Global path planning method and device based on Reedsshepp, computer equipment and storage medium

The invention discloses a Reedsshepp-based global path planning method and device, computer equipment and a storage medium, and the method comprises the following steps: carrying out the A-star operation according to a map and obstacle information so as to obtain an output path; and performing Reedsshepp operation smoothing processing on the output path to obtain a smooth curve path. Compared withthe prior art, the embodiment of the invention provides a global path planning method and device based on Reedsshepp, the computer equipment and the storage medium, according to map information and roadblock signals, a search path is firstly obtained, and then smoothing operation is performed on the searched path, so that a smooth path curve is obtained, and the problem of curvature sudden changein path search is eliminated. 本发明公开了一种基于Reedsshepp全局路径规划方法、装置、计算机设备及存储介质，其方法包括以下步骤：根据地图和障碍物信息，进行A-star运算，以获得输出路径；对输出路径进行Reedsshepp运算平滑处理，以获得平滑曲线路径。与现有技术相比，本发明的实施例提供了一种基于Reedsshepp全局路径规划方法、装置、计算机设备及存储介质，其根据地图信息和路障信号首先得到搜索路径，然后