Path planning method, controller and autonomous mobile machine

A controller, comprising a processor and a memory, wherein the memory is configured to store program instructions, and the processor is configured to execute the program instructions, to implement following steps:

• determining a task start point and a task end point of a task to be executed by an autonomous mobile machine;
• performing path planning for the task to obtain an initial path;
• determining a sub-path that does not conform to a preset constraint condition in the initial path, determining whether the re-planned sub-path conforms to the preset constraint condition;
• if yes, performing the step of splicing the sub-path that conforms to the preset constraint condition in the initial path and the re-planned sub-path;
• otherwise, re-performing path planning for the sub-path that does not conform to the preset constraint condition until all the re-planned sub-paths conform to the preset constraint condition or a quantity of times of re-planning reaches a preset quantity threshold;
• and
• re-performing path planning for the sub-path that does not conform to the preset constraint condition to obtain a re-planned sub-path;
• and
• splicing a sub-path that conforms to the preset constraint condition in the initial path and the re-planned sub-path to obtain a task path before controlling the autonomous mobile machine to move, and controlling the autonomous mobile machine to move and execute a corresponding handling task according to the task path, wherein before determining the sub-path that does not conform to the preset constraint condition in the initial path, the method further comprises:
• determining at least one segment point in the initial path, and segmenting the initial path at a position of the at least one segment point to obtain a plurality of sub-paths;
• wherein the segment point comprises at least one of a narrow point, an entrance position point of a narrow segment, an exit position point of the narrow segment and position points at a preset length interval.

An autonomous mobile machine, comprising a processor and a memory, wherein the memory is configured to store program instructions, and the processor is configured to execute the program instructions, to implement following steps:

• determining a task start point and a task end point of a task to be executed by an autonomous mobile machine;
• performing path planning for the task to obtain an initial path;
• determining a sub-path that does not conform to a preset constraint condition in the initial path;
• re-performing path planning for the sub-path that does not conform to the preset constraint condition to obtain a re-planned sub-path, determining whether the re-planned sub-path conforms to the preset constraint condition;
• if yes, performing the step of splicing the sub-path that conforms to the preset constraint condition in the initial path and the re-planned sub-path;
• otherwise, re-performing path planning for the sub-path that does not conform to the preset constraint condition until all the re-planned sub-paths conform to the preset constraint condition or a quantity of times of re-planning reaches a preset quantity threshold;
• and
• splicing a sub-path that conforms to the preset constraint condition in the initial path and the re-planned sub-path to obtain a task path before controlling the autonomous mobile machine to move, and controlling the autonomous mobile machine to move and execute a corresponding handling task according to the task path, wherein before determining the sub-path that does not conform to the preset constraint condition in the initial path, the method further comprises:
• determining at least one segment point in the initial path, and segmenting the initial path at a position of the at least one segment point to obtain a plurality of sub-paths;
• wherein the segment point comprises at least one of a narrow point, an entrance position point of a narrow segment, an exit position point of the narrow segment and position points at a preset length interval.