Method, apparatus, device, and storage medium for controlling guide robot

An electronic device, comprising:

• one or more processors;
• and
• a storage apparatus, storing one or more programs thereon,
• the one or more programs, when executed by the one or more processors, causing the one or more processors to:
• acquire a state of a guide robot, a state of a user, and a position of an obstacle, the guide robot and the user being connected with a rigid object;
• generate a state update equation for a combined system of the guide robot and the user based on the state of the guide robot and the state of the user;
• generate a collision-free global path based on the position of the obstacle;
• generate a control command based on the state update equation for the combined system and the collision-free global path;
• and
• drive the guide robot to move based on the control command,
• wherein the state of the user is acquired by:
• determining an annular region with the guide robot as a center of a circle and the length of the rigid object as a radius for use as a candidate position region of the user;
• and
• clustering a scanned point in the candidate position region using a k-means clustering algorithm to obtain a position of the user.

A non-transitory computer-readable medium, storing a computer program thereon, wherein the computer program, when executed by a processor, to:

• acquire a state of the guide robot, a state of a user, and a position of an obstacle, the guide robot and the user being connected with a rigid object;
• generate a state update equation for a combined system of the guide robot and the user based on the state of the guide robot and the state of the user;
• generate a collision-free global path based on the position of the obstacle;
• generate a control command based on the state update equation for the combined system and the collision-free global path;
• and
• drive the guide robot to move based on the control command,
• wherein the state of the user is acquired by:
• determining an annular region with the guide robot as a center of a circle and the length of the rigid object as a radius for use as a candidate position region of the user;
• and
• clustering a scanned point in the candidate position region using a k-means clustering algorithm to obtain a position of the user.