Robot motion path planning method, apparatus and terminal device

A robot motion path planning apparatus, comprising a processor and a memory storing instructions executable for the processor, wherein the instructions function as:

• a path planning module configured to plan a planned path for a robot in a current scene using an open motion planning library (OMPL) database, wherein the planned path comprises a plurality of points, the plurality of points comprising a start point and an end point;
• an ideal path setting module configured to set a shortest ideal path as an initial ideal path, wherein the shortest ideal path is a shortest path between the start point and the end point;
• a new path calculating module configured to calculate a new path between the planned path and the initial ideal path using a dichotomy method;
• a new path determining module configured to determine whether the new path meets an obstacle avoidance requirement and a structural constraint of the robot in the current scene;
• a first determining module configured to make the new path as the new planned path, in response to a determination result of the new path determining module is yes;
• a second determining module configured to make the new path as a new ideal path, in response to the determination result of the new path determining module is no;
• an iterative triggering module configured to trigger the new path calculating module, until an error between the planned path and the ideal path is within a preset range;
• and
• a motion path determining module determining the planned path as a motion path of the robot.

A terminal device, comprising:

• one or more processors;
• a memory;
• and
• one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprise:
• instructions for planning a planned path for a robot in a current scene using an open motion planning library (OMPL) database, wherein the planned path comprises a plurality of points, the plurality of points comprising a start point and an end point;
• instructions for setting a shortest ideal path as an initial ideal path, wherein the shortest ideal path is a shortest path between the start point and the end point;
• instructions, for calculating a new path between the planned path and the initial ideal path using a dichotomy method;
• instructions for determining whether the new path meets an obstacle avoidance requirement and a structural constraint of the robot in the current scene;
• instructions for making the new path as the new planned path, in response to the new path meeting the obstacle avoidance requirement and the structural constraint;
• instructions for making the new path as a new ideal path, in response to the new path not meeting the obstacle avoidance requirement or the structural constraint;
• instructions for returning to the calculating the new path between the planned path and the ideal path using the dichotomy method, until an error between the planned path and the ideal path is within a preset range;
• and
• instructions for determining the planned path as a motion path of the robot.