Continuous frame based blind guiding instrument combination path planning method

The invention relates to a continuous frame based blind guiding instrument combination path planning method. Specifically, for each frame shot by a binocular camera, global path preview tracking is conducted to determine a local planning target point, local path planning is carried out according to the environmental information detected by the camera in real time, a walking direction error angle is output to induce the blind to walk till reaching a global target point. During local path planning, grid visualization is firstly conducted on the environmental information of a current frame, then the A* algorithm is employed for local path planning, and finally a re-weighting method path conversion method is employed to calculate the angular deviation of the current frame walking direction and a local planned path to serve as the input information of a controller for inducing the blind to walk. The invention designs a novel blind guiding instrument combination path planning method, the method can realize real-tim