Navigation method and apparatus, storage medium, and device

A navigation apparatus, comprising:

• at least one processor;
• and
• a memory configured to store at least one program;
• wherein the at least one program, when executed by the at least one processor, causes the at least one processor to:
• determine a global planning path in a target map according to a current position of a robot and an end position in a navigation request;
• and
• determine an initial local path corresponding to the global planning path based on a local planning range, wherein the local planning range corresponds to a boundary of a local costmap, and the local costmap comprises obstacle information within the local planning range;
• and
• generate a local planning path corresponding to the initial local path according to the initial local path and the local costmap;
• and
• generate a navigation control instruction of the robot according to the local planning path and a preset robot model corresponding to the robot.

A non-transitory computer-readable storage medium storing a computer program which, when executed by a processor, implements the following:

• determining a global planning path in a target map according to a current position of a robot and an end position in a navigation request;
• determining an initial local path corresponding to the global planning path based on a local planning range, wherein the local planning range corresponds to a boundary of a local costmap, and the Local costmap comprises obstacle information within the local planning range;
• and
• generating a local planning path corresponding to the initial local path according to the initial local path and the local costmap;
• and
• generating a navigation control instruction of the robot according to the local planning path and a preset robot model corresponding to the robot.