Anti-winding path planning method for oil storage tank operation robot

The invention discloses an anti-winding path planning method for an oil storage tank operation robot and belongs to the technical field of oil storage tank operation. The method is characterized by comprising the following steps: step a, establishing an electronic map in an environment; b, dividing an operation area; c, planning an operation path; step d, obstacle identification in the advancing process; step e, constructing an obstacle envelope circle; step f, the robot performs an obstacle avoidance action around an obstacle envelope circle; step g, re-planning an operation path; and h, the robot carries out operation. According to the anti-winding path planning method for the oil storage tank operation robot, a zoning and time-sharing operation mode is adopted, and cable winding or winding between the robot and a drainage pipe during operation of a detection robot and a cleaning robot is avoided. And meanwhile, the position where the robot leaves the obstacle is redefined while local path planning is achie