公开(公告)号：US20240083030A1

公开(公告)日：2024-03-14

申请号：US18264236

申请日：2021-12-14

Applicant: JINGDONG TECHNOLOGY INFORMATION TECHNOLOGY CO., LTD.

Inventor： Yongyu CHEN ,  Chao WANG ,  Xiujun YAO ,  Chenguang GUI ,  Lihua CUI

IPC: B25J9/16 ,  G05D1/02

CPC classification number: B25J9/1666 ,  G05D1/0221 ,  G05D2201/0217

Abstract: Disclosed are a method and an apparatus for path optimization, a robot and a storage medium. The method includes: acquiring an initial path of a robot, and iteratively optimizing the initial path until a preset iteration termination condition is met to obtain obstacle avoidance path of the robot: acquiring an iteration path corresponding to a current iteration process, determining a smoothness cost and a smoothness optimal gradient; determining a robot's footprint contour corresponding to the iteration path point, and searching for a first nearest obstacle distance; determining an obstacle cost corresponding to the iteration path and an obstacle optimal gradient corresponding to the iteration path point based on the first nearest obstacle distance; adjusting the iteration path point to acquire an iteration path corresponding to a next iteration process; inputting the smoothness cost and the obstacle cost to a preset objective function.