The present invention relates to an environmental map construction method and a
robot, which is characterized in that the environmental map construction is completed by the following steps: step 1, start the mapping and positioning module and the path planning module, and establish the automatic exploration module; step 2, generate a frontier position point
queue D; step 3, determine whether the
queue D is empty, if yes, end; if no, enter step 4; step 4, take out the first position point T in the
queue D, determine whether the point T is reachable, if no, add the point T to the
blacklist and return to step 3, if yes, enter step 5; step 5, move to point T, start the exploration timing and enter step 6; step 6, wait for n seconds, update the queue D, and move to point T; step 7, determine whether the current round of exploration timing has timed out, if yes, add T to the
blacklist and return to step 2, if no, enter step 8; step 8, determine whether the
robot has reached point T, if yes, return to step 2; if no, return to step 6. Compared with the prior art, the present invention reduces the calculation requirements during the exploration period.