This application discloses a
robot map exploration method and
chip based on reachable boundary points, including: Step A, the
robot uses the boundary points in its current detection area to fit a preset
boundary line, and selects the
contour line used to delineate all connected detectable areas in the map to be optimized as the target
contour line; Step B, the
robot controls the two ends of the preset
boundary line to expand respectively to obtain a preset boundary expansion
line segment; if the expansion length of both ends of the preset
boundary line is less than or equal to the preset
perception radius, and both ends of the preset boundary expansion
line segment intersect with the target
contour line, then Step C is executed; Step C, based on the preset boundary expansion
line segment, the robot segments the contour line to be tracked from the target contour line along the direction connected to the unknown area, and then searches for leading boundary points in the area enclosed by the contour line to be tracked and the preset boundary expansion line segment; Step D, based on the traversability of the leading boundary points searched in Step C, reaching boundary points are selected.