Method for determining termination of obstacle-crossing, and method for controlling obstacle-crossing, chip, and robot

Abstract

A method for determining a termination of an obstacle-crossing, a method for controlling an obstacle-crossing control, a chip, and a robot. The obstacle-crossing termination determination method includes: when a robot walks along an edge according to a pre-planned shortest predicted path along the edge, selecting a second preset inflection point set, which meets a guiding condition, from a preset navigation path; an optimal inflection point is acquired from the second preset inflection point set, which meets the guiding condition; whether an obstacle is marked on a line segment which connects the optimal inflection point to the current position of the robot is determined; if so, the current obstacle crossing performed by the robot is not determined to be terminated; otherwise, the current obstacle crossing performed by the robot is determined to be terminated.