1results about How to "Avoid endless loop" patented technology

This application discloses a robot mapping method, computing device, and readable storage medium. The method includes: S1, determining or updating the target point in the current exploration direction; S2, employing a target-biased sampling strategy, using the target point as the direction guide and determining a set of candidate exploration points based on the current environmental map data; S3, sequentially performing reachability filtering and multi-factor exploration priority decision on the candidate exploration point set to determine the robot's next exploration point; S4, controlling the robot to move to the next exploration point and updating the environmental map data based on sensor data; S5, repeating steps S2 to S4 until the regional exploration completion conditions related to the target point are met; S6, returning to step S1 to update the target point until the global mapping termination condition is met. This improves mapping exploration efficiency, effectively filters out unreachable points, and avoids local optima.