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Path searching method based on raster map, chip, and robot

A grid map and path search technology, applied in the field of robotics, can solve problems such as obstacles that are easy to encounter, and achieve the effect of improving travel efficiency

Active Publication Date: 2017-11-17
AMICRO SEMICON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above problems, the present invention provides a path search method based on a grid map, a chip and a robot, which can avoid the problem that the robot is easy to encounter obstacles when moving, and improve the moving efficiency of the robot

Method used

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  • Path searching method based on raster map, chip, and robot
  • Path searching method based on raster map, chip, and robot
  • Path searching method based on raster map, chip, and robot

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Embodiment Construction

[0058] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:

[0059] Such as figure 1As shown, the path search method based on the grid map includes the following steps: based on the grid map, determine the grid unit where the starting point is located as the starting grid, determine the grid unit where the target point is located as the target grid, and determine the grid unit where the obstacle is located The grid unit is an obstacle grid; based on the starting grid where the starting point is located, judge whether there is the target grid in the grid unit adjacent to the starting grid; if yes, end the search; if not, calculate The original weight of the reference grid adjacent to the starting grid that is not an obstacle grid, and judge whether the reference grid is within the preset range of the obstacle grid; if not, select the original weight The smallest reference grid is used as the grid to be impo...

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Abstract

The invention belongs to a path searching method based on a raster map, a chip, and a robot. During path searching, an additional weight value is added to an original weight value of a reference raster approaching an obstacle, so that a final weighted value of the reference raster approaching the obstacle is larger than original weight value of other adjacent reference rasters; and then a robot is guided to move to a reference raster with a small weight value, so that the robot keeps a certain distance to the obstacle when moving. Therefore, a problem that the robot is easy to hit an obstacle is solved and the movement efficiency of the robot is improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a grid map-based path search method, a chip and a robot. Background technique [0002] Sweeping robot, also known as automatic cleaning machine, intelligent vacuum cleaner, robot vacuum cleaner, etc., is a kind of smart household appliances, which can automatically complete the floor cleaning work in the room by virtue of certain artificial intelligence. The sweeping robot needs to cover the entire room area according to a certain path planning to complete the purpose of cleaning. There are two types of path planning: random cleaning and planned cleaning. Random cleaning means that the robot tentatively covers the work area according to a certain movement algorithm, such as triangular and pentagonal trajectories. If it encounters an obstacle, it executes the corresponding steering function. This method is a low-cost strategy that trades time for space, such as 100% coverage regardless of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0276
Inventor 李明肖刚军李根唐
Owner AMICRO SEMICON CORP