Path planning method, device and equipment of mobile robot and storage medium

• Main Authors: WANG WEI, LI PENG, DAI MINGZHE, CHEN LEI, ZHANG XING, WANG XUDONG, TONG CHAO, HE DAOJING, ZHOU XINGBIAO, ZHANG YIWANG, XIA XIUSHOU
• Format: Patent
• Language: Chinese; English
• Published: 09.01.2024
• Subjects: CONTROLLING; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; REGULATING; SURVEYING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

The embodiment of the invention provides a path planning method and device for a mobile robot, equipment and a storage medium, and belongs to the technical field of path planning. The method comprises the steps that when the mobile robot does not fall into a target unreachable state, target resultant force borne by the mobile robot is calculated according to a traditional artificial potential field method, and the mobile robot moves according to the target resultant force. When the mobile robot falls into the target unreachable state, obtaining a distance adjustment factor according to the relative distance between the mobile robot and the target point, adding the distance adjustment factor into the original repulsive force potential field function to obtain a first repulsive force potential field function, and updating the current repulsive force according to the first repulsive force potential field function; the updated current repulsive force comprises a first repulsive force and a second repulsive force,