Optimal path planning method combined with image skeleton

The invention discloses an optimal path planning method combined with an image skeleton, which is a method for calculating reasonable path planning on the premise of giving a 2D grid map, a current positioning point and a target point. Different from a traditional method, the method not only takes the distance as a consideration element, but also takes factors such as safety reservation and smoothness of following control in the driving process into consideration, so that optimal planning under multiple constraint conditions is realized, and the method is more suitable for the actual situation of robot application. 本发明公开了一种与图像骨架结合的最优路径规划方法，在给定2D栅格地图、当前定位点以及目标点的前提下，计算合理的路径规划的方法。与传统方法不同的点在于，本发明方法不仅仅将距离作为考虑要素，还兼顾了行驶过程中的安全预留、跟随控制的平滑性等要素，从而实现多重约束条件下的最优规划，更切合机器人应用的实际情况。