Mobile robot obstacle avoidance method, storage medium and system

According to the mobile robot obstacle avoidance method, the storage medium and the system disclosed by the invention, the obstacle information in the front range is obtained through real-time detection of the AGV, the obstacle image is generated, the boundary point of the outermost obstacle is searched, the safety range is drawn according to the boundary point of the obstacle, and the AGV body is used as the starting point. According to the obstacle avoidance detour path which is tangent to the safe area circle and has the end point on the global path, the AGV can avoid the front obstacle and return to the global path along the obstacle avoidance detour path, various complicated parameter configurations are omitted, flexible and effective obstacle avoidance of the AGV is realized, and the use effect is good. 本发明公开的一种移动机器人避障方法、存储介质及系统，通过AGV实时检测获取前方范围的障碍物信息，并在生成障碍物图像通过搜索最外侧的障碍物边界点，以障碍物边界点绘制安全范围，结合以AGV车体起点，与安全区域圆相切且终点在与全局路径上的避障绕行路径，使AGV沿该避障绕行路径即可避开前方的障碍物并回到全局路径上，省去各项繁杂的参数配置，实现AGV灵活有效的避障，使用效果好。