A path navigation method and system for continuous motion of a robot

Abstract

The present invention discloses a path navigation method and system for continuous motion of a robot. The method uses dynamic environment map knowledge to determine the initial position and target position of the robot, and counts the motion path between the initial position and the target position in the dynamic environment map knowledge; marks all obstacles on the motion path, and selects the most preferred path according to the path distance; uses the intersection between the most preferred path and other navigation paths as a marking point, and divides the most preferred path into a plurality of bifurcated segments according to the marking points; monitors the dynamic obstacles on the most preferred path in real time and determines the dynamic obstacles that affect the motion of the robot, and uses the front fork or the rear fork of the bifurcated segment as the initial position again according to the bifurcated segment currently located by each robot; reselects the most preferred path until each robot moves to the target position according to the shortest path; the present invention ensures that the path navigation moving path of each mobile robot is the shortest.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a path navigation method and system for continuous motion of a robot. Background Art

[0002] Path planning is the core issue of mobile robots, which studies how to move a mobile robot from its starting position to its target position safely and without collision. Safe and effective mobile robot navigation requires an efficient path planning algorithm, because the quality of the generated path has a great impact on the application of the robot.

[0003] Simply put, mobile robot navigation needs to solve the following three problems: Where am I? Where am I going? How do I get there? These three problems correspond to the positioning, mapping and path planning functions in mobile robot navigation. Positioning is used to determine the position of the mobile robot in the environment. When a mobile robot moves, it needs a map of the environment to determine the direction and position of the mobile robot in the current moving environment. The map can be given in advance or gradually built by the mobile robot during the movement. Path planning is to find a suitable path for the robot to move from the starting point to the end point when the mobile robot knows the relative position of the target in advance. While moving, it must avoid scattered obstacles in the environment and minimize the path length.

[0004] Most of the existing path navigation methods for continuous robot motion are only for one robot moving in a map environment, so as to facilitate the adjustment of the optimal navigation path for the single robot. However, for the path navigation of multiple robots from the same starting point to the same destination, if new obstacles appear during the movement of the robots, and the moving paths of all robots are made the same, it is very likely that the robot's moving path will not be the shortest path, thereby increasing the energy consumption of the movement. Summary of the invention

[0005] The purpose of the present invention is to provide a path navigation method and system for continuous movement of robots, so as to solve the technical problem in the prior art that when new obstacles appear during the movement of robots, the moving paths of all robots are the same, which may cause the moving paths of the robots not to be the shortest paths, thereby increasing the energy consumption of movement.

[0006] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0007] A path navigation method for continuous motion of a robot comprises the following steps:

[0008] Step 100: using the dynamic environment map knowledge to determine the initial position of the robot's movement start point and the target position of the movement end point, and counting the movement path between the initial position and the target position in the dynamic environment map knowledge;

[0009] Step 200: mark all obstacles on the motion path, set a navigation path from the initial position to the target position based on the principle of avoiding obstacles and reaching the target position, and select the most preferred path according to the path distance;

[0010] Step 300: using the intersection between the most preferred path and other navigation paths as a marking point, dividing the most preferred path into a plurality of bifurcated segments according to the marking points, and determining the front fork and the rear fork of each bifurcated segment;

[0011] Step 400: monitor the dynamic obstacles on the most preferred path in real time and determine the dynamic obstacles that affect the movement of the robot, and update the dynamic obstacles to the most preferred path. According to the bifurcation section currently located by each robot, the front fork or the rear fork of the bifurcation section is used as the initial position again;

[0012] Step 500: Use the front fork or the rear fork of the bifurcated section as the initial position again, keep the target position fixed, and select the most preferred path according to steps 200 to 400 until each of the robots moves to the target position.

[0013] As a preferred solution of the present invention, in step 100 and step 200, the multiple robots are at the same initial position and facing the same target position, and the multiple robots select the same optimal path in a manner of shortest path distance.

[0014] As a preferred solution of the present invention, in step 200, the steps of setting the navigation path and selecting the most preferred path from the navigation path are as follows:

[0015] Step 201: Count the motion paths that conform to the robot's motion space in the initial position and the target position based on the size of the robot, and all motion paths have intersections that are interconnected;

[0016] Step 202: Determine whether the motion path that conforms to the robot's motion space contains obstacles that affect passage;

[0017] Step 203: Screen out the motion paths corresponding to obstacles that affect the passage, and select multiple navigation paths from the initial position to the target position from the remaining motion paths;

[0018] Step 204: calculate the path distances of multiple navigation paths, and take the navigation path with the shortest path distance and the lowest motion energy consumption as the most preferred path. All robots share the same most preferred path, and all robots move continuously in the most preferred path in sequence.

[0019] As a preferred solution of the present invention, in step 400, according to the moving directions of all robots in the most preferred path, the bifurcation point close to the target position in each bifurcation segment is used as the front fork, and the bifurcation point close to the initial position in each bifurcation segment is used as the back fork;

[0020] If the dynamic obstacle occupies the most preferred path and causes the size of the most preferred path to be smaller than the robot motion space, then according to the bifurcation segment where each robot is currently located, the front fork or the rear fork of the bifurcation segment is used as the initial position again;

[0021] If the dynamic obstacle occupies the most preferred path, but the size of the most preferred path is still greater than or equal to the robot motion space, all robots move according to the original most preferred path.

[0022] As a preferred solution of the present invention, in step 500, when the robot is in different bifurcated sections, the steps of selecting the front fork or the rear fork of the bifurcated section as the initial position are as follows:

[0023] Step 501: Taking the robot traveling on the selected optimal path as a navigation object, determining the bifurcation section where the dynamic obstacle is located;

[0024] Step 502: if at least one robot is located in the bifurcated section where the dynamic obstacle is located, determine the front and rear positions of the dynamic obstacle of the robot, and determine whether the robot needs to reselect the most preferred path based on the front and rear positions of the dynamic obstacle of the robot;

[0025] Step 503: For the robot that has deviated from the bifurcated section where the dynamic obstacle is located, the front bifurcated section or the rear bifurcated section where the robot is located is used as the initial position again.

[0026] As a preferred solution of the present invention, for a robot that deviates from the bifurcated section where the dynamic obstacle is located, the steps for reselecting the most preferred path are:

[0027] Taking the front fork of the bifurcated section where the robot is located as the initial position, setting a navigation path from the initial position to the target position based on the principle of avoiding obstacles and reaching the target position, and determining at least one first navigation path taking the front fork of the bifurcated section where the robot is located as the initial position;

[0028] Taking the rear fork of the bifurcated section where the robot is located as the initial position, setting a navigation path from the initial position to the target position based on the principle of avoiding obstacles and reaching the target position, and determining at least one second navigation path taking the rear fork of the bifurcated section where the robot is located as the initial position;

[0029] A most preferred path is selected from the first navigation path and the second navigation path in a manner of shortest path distance.

[0030] As a preferred solution of the present invention, multiple robots that have been traveling on the original unified most preferred path reselect different most preferred paths;

[0031] The multiple robots that have not traveled on the original unified optimal path select the optimal path according to steps 200 to 400, and the optimal paths selected by the multiple robots are the same.

[0032] As a preferred solution of the present invention, when the dynamic obstacle and the robot are located in the same bifurcated section, and the dynamic obstacle is located in front of the robot, the robot uses the rear fork of the bifurcated section as the initial position, or uses the front fork or rear fork of the bifurcated section behind the bifurcated section where the robot is located as the initial position, and reselects the most preferred path in a way that minimizes the path distance.

[0033] When the dynamic obstacle and the robot are located in the same bifurcated section and the dynamic obstacle is located behind the robot, the robot continues to move along the selected most preferred path.

[0034] As a preferred solution of the present invention, in step 200, when marking all obstacles on the motion path, the location of the obstacle is determined by using the knowledge of the dynamic environment map, and the motion path that affects the motion is screened according to the spatial size of the motion path where the obstacle appears;

[0035] In step 400 , a dynamic obstacle is detected using sensors of a leading robot among all robots.

[0036] In order to solve the above technical problems, the present invention further provides the following technical solutions: a system of a path navigation method for continuous motion of a robot, comprising:

[0037] The dynamic environment map module is used to integrate the robot's initial position, target position, and the motion path from the initial position to the target position, and dynamically mark obstacles on the motion path;

[0038] The motion path marking module is used to mark the intersection between each motion route and other motion routes, and two forks corresponding to each intersection;

[0039] The navigation path selection module is used to generate multiple navigation routes from the initial position to the target position using the initial position, the target position, obstacles and intersections as integrated parameters, and determine the most preferred path based on the principle of minimum path distance;

[0040] Among them, the dynamic environment map module marks the obstacles on the motion path, determines the fixed obstacles and the elimination of fixed obstacles through map knowledge, and determines the dynamic obstacles through the robot's sensors. Each time the dynamic environment map module dynamically marks the increase or decrease of obstacles on the motion path, the motion path marking module and the navigation path selection module are used to re-determine the most preferred path.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] For all robots in the same initial position, the present invention sets the most preferred path as the path with the shortest moving distance. For the robots moving to the most preferred path, the most preferred path is selected for each robot according to the dynamic changes of obstacles. Therefore, the path navigation of this embodiment uses the shortest moving distance as the criterion, thereby improving the timely adjustment function of the mobile robot during the path navigation process to improve the efficiency of path planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0044] Figure 1 A schematic diagram of a flow chart of a path navigation method provided by an embodiment of the present invention;

[0045] Figure 2 This is a structural block diagram of a path navigation system provided by an embodiment of the present invention.

[0046] The numbers in the figure represent the following:

[0047] 1- Dynamic environment map module; 2- Motion path marking module; 3- Navigation path selection module. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] like Figure 1 As shown, the present invention provides a path navigation method for continuous motion of a robot, comprising the following steps:

[0050] Step 100: Determine the initial position of the robot's motion start point and the target position of the motion end point by using the dynamic environment map knowledge, and count the motion path between the initial position and the target position in the dynamic environment map knowledge.

[0051] Step 200: Mark all obstacles on the motion path, set a navigation path from the initial position to the target position based on the principle of avoiding obstacles and reaching the target position, and select the most preferred path according to the path distance.

[0052] In step 100 and step 200, the multiple robots are at the same initial position and facing the same target position, and the multiple robots select the same optimal path in a manner that the path distance is shortest.

[0053] This embodiment is applicable to the situation where multiple robots move from the same initial position to the same target position. At the same time, the feature that distinguishes this embodiment from the prior art is that when the mobile robot in this embodiment selects a navigation path, it can recommend a navigation path in a mixed scenario of a static environment and a dynamic environment, wherein the static environment refers to the robot's initial position and target position remaining unchanged, and the dynamic environment refers to obstacles on the motion path appearing or changing at any time, thereby causing the most preferred path in the entire navigation path to be dynamically changed in real time.

[0054] Therefore, in step 200, the steps of setting the navigation path and selecting the most preferred path from the navigation path are as follows:

[0055] Step 201: Count the motion paths that conform to the robot's motion space in the initial position and the target position based on the size of the robot, and all motion paths have intersections that are interconnected;

[0056] Step 202: Determine whether the motion path that conforms to the robot's motion space contains obstacles that affect passage;

[0057] Step 203: Screen out the motion paths corresponding to obstacles that affect the passage, and select multiple navigation paths from the initial position to the target position from the remaining motion paths;

[0058] Step 204: Calculate the path distances of multiple navigation paths, and take the navigation path with the shortest path distance and the lowest motion energy consumption as the most preferred path. All robots share the same most preferred path, and all robots move continuously in the most preferred path in sequence.

[0059] That is to say, in this embodiment, the motion paths corresponding to the obstacles that affect the passage are screened out dynamically, and the obstacles on each motion path are updated in real time, so that the most preferred path can be selected more effectively and timely. All robots share the same most preferred path and move continuously in the most preferred path in sequence, thereby effectively improving the accuracy of path navigation.

[0060] Step 300: The intersection between the most preferred path and other navigation paths is used as a marking point, the most preferred path is divided into a plurality of bifurcated segments according to the marking points, and the front fork and the rear fork of each bifurcated segment are determined.

[0061] Step 400: monitor the dynamic obstacles on the optimal path in real time and determine the dynamic obstacles that affect the movement of the robot, and update the dynamic obstacles to the optimal path. According to the current fork section of each robot, the front fork or the rear fork of the fork section is used as the initial position again.

[0062] In step 400, according to the moving directions of all robots in the most preferred path, the bifurcation point in each bifurcated segment close to the target position is used as the front fork, and the bifurcation point in each bifurcated segment close to the initial position is used as the back fork.

[0063] If a dynamic obstacle occupies the most preferred path and causes the size of the most preferred path to be smaller than the robot's motion space, then the front fork or the rear fork of the fork is used as the initial position again according to the current fork segment of each robot.

[0064] If the dynamic obstacle occupies the most optimal path, but the size of the most optimal path is still greater than or equal to the robot motion space, all robots move along the original most optimal path.

[0065] In this embodiment, there is an intersection between the two motion paths, so that the robot can transfer from one motion path to another motion path through the intersection, and the cooperation of multiple motion paths selects the path with the shortest moving distance as the most preferred path.

[0066] Since the present embodiment is applicable to a dynamic environment, a dynamic obstacle may be eliminated from a navigation path that is not selected as the most preferred path, or may appear in the most preferred path, so that the robot can change the most preferred path in real time during movement.

[0067] All robots choose the same optimal path under the filtering of the original obstacles. However, if the dynamic obstacles occupy the optimal path and cause the size of the optimal path to be smaller than the robot's motion space, that is, the optimal path is blocked, then each robot needs to use the current displacement position as the initial position and reselect the optimal path corresponding to each robot. At this time, the optimal path of each robot is not exactly the same, but is reselected based on the minimum moving distance of each robot.

[0068] As a preferred embodiment of this embodiment, in step 200, when marking all obstacles on the motion path, the monitoring system using the dynamic environment map knowledge determines the location of the obstacles, and screens the motion paths that affect the motion according to the spatial size of the motion paths where the obstacles appear.

[0069] In step 400 , a dynamic obstacle is detected using sensors of a leading robot among all robots.

[0070] Therefore, when all robots select the most optimal path, they always use the obstacles in the dynamic environment map as a reference value and change the distance of the most optimal path in real time, so as to always move to the target position with the shortest distance and the lowest energy consumption.

[0071] Step 500: Use the front fork or the rear fork of the bifurcated section as the initial position again, keep the target position fixed, and select the most preferred path according to steps 200 to 400 until each robot moves to the target position.

[0072] In step 500, when the robot is in different bifurcated sections, the steps for selecting the front fork or the rear fork of the bifurcated section as the initial position are as follows:

[0073] Step 501: Taking the robot traveling on the selected optimal path as a navigation object, determining the bifurcation section where the dynamic obstacle is located;

[0074] Step 502: if at least one robot is located in the bifurcated section where the dynamic obstacle is located, determine the front and rear positions of the dynamic obstacle of the robot, and determine whether the robot needs to reselect the most preferred path based on the front and rear positions of the dynamic obstacle of the robot;

[0075] Step 503: For the robot that has deviated from the bifurcated section where the dynamic obstacle is located, the front fork or the rear fork of the bifurcated section where the robot is located is used as the initial position again.

[0076] Among them, for the robot that deviates from the bifurcation section where the dynamic obstacle is located, the implementation steps of reselecting the most optimal path are:

[0077] Taking the front fork of the bifurcated section where the robot is located as the initial position, setting a navigation path from the initial position to the target position based on the principle of avoiding obstacles and reaching the target position, and determining at least one first navigation path taking the front fork of the bifurcated section where the robot is located as the initial position;

[0078] Taking the rear fork of the bifurcated section where the robot is located as the initial position, setting a navigation path from the initial position to the target position based on the principle of avoiding obstacles and reaching the target position, and determining at least one second navigation path taking the rear fork of the bifurcated section where the robot is located as the initial position;

[0079] A most preferred path is selected from the first navigation path and the second navigation path in a manner of shortest path distance.

[0080] If the dynamic obstacle and the robot are located in the same bifurcation, and the dynamic obstacle is located in front of the robot, the robot will use the rear fork of the bifurcation as the initial position, or the front or rear fork of the bifurcation behind the robot as the initial position, and reselect the most preferred path in the way of shortest path distance.

[0081] When the dynamic obstacle and the robot are located in the same bifurcation segment and the dynamic obstacle is located behind the robot, the robot continues to move along the selected most preferred path.

[0082] Therefore, in general, for multiple robots that have been traveling on the original unified optimal path, the reselected optimal paths are not exactly the same;

[0083] For the multiple robots that have not traveled on the original unified optimal path and are still in the initial position, the optimal path is selected according to steps 200 to 400, and the optimal paths selected by the multiple robots are the same.

[0084] For all robots in the same initial position, the optimal path set in this embodiment is the path with the shortest moving distance. For the robot moving to the optimal path, the moving path selected according to the above method is also the optimal path for each robot. Therefore, the path navigation of this embodiment is based on the shortest moving distance as the criterion, which improves the stability of the mobile robot's path navigation process and the efficiency of path planning.

[0085] In addition, Figure 2 As shown, the present invention also provides a system for a path navigation method for continuous motion of a robot, comprising:

[0086] The dynamic environment map module 1 is used to integrate the robot's initial position, target position, and the motion path from the initial position to the target position, and dynamically mark obstacles on the motion path;

[0087] The motion path marking module 2 is used to mark the intersection of each motion route and other motion routes, as well as the two forks corresponding to each intersection;

[0088] The navigation path selection module 3 is used to generate multiple navigation routes from the initial position to the target position using the initial position, the target position, obstacles and intersections as integrated parameters, and determine the most preferred path based on the principle of the minimum path distance;

[0089] Among them, the dynamic environment map module 1 marks the obstacles on the motion path and determines the fixed obstacles and the elimination of fixed obstacles through map knowledge, and determines the dynamic obstacles through the robot's sensors. Each time the dynamic environment map module 1 dynamically marks the increase or decrease of obstacles on the motion path, it uses the motion path marking module 2 and the navigation path selection module 3 to re-determine the most preferred path.

[0090] The path navigation of this embodiment is based on the shortest moving distance as a criterion, and improves the timely adjustment function of the mobile robot during the path navigation process to improve the efficiency of path planning.

[0091] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A path navigation method for continuous motion of a robot, characterized in that: The following steps are involved: Step 100: using the dynamic environment map knowledge to determine the initial position of the robot's movement start point and the target position of the movement end point, and counting the movement path between the initial position and the target position in the dynamic environment map knowledge; Step 200: mark all obstacles on the motion path, set a navigation path from the initial position to the target position based on the principle of avoiding obstacles and reaching the target position, and select the most preferred path according to the path distance; Step 300: using the intersection between the most preferred path and other navigation paths as a marking point, dividing the most preferred path into a plurality of bifurcated segments according to the marking points, and determining the front fork and the rear fork of each bifurcated segment; Step 400: monitor the dynamic obstacles on the most preferred path in real time and determine the dynamic obstacles that affect the movement of the robot, and update the dynamic obstacles to the most preferred path. According to the bifurcation section currently located by each robot, the front fork or the rear fork of the bifurcation section is used as the initial position again; In step 400, according to the moving directions of all robots on the most preferred path, the bifurcation point in each bifurcated segment close to the target position is used as the front fork, and the bifurcation point in each bifurcated segment close to the initial position is used as the back fork; If the dynamic obstacle occupies the most preferred path and causes the size of the most preferred path to be smaller than the robot motion space, then according to the bifurcation segment where each robot is currently located, the front fork or the rear fork of the bifurcation segment is used as the initial position again; If the dynamic obstacle occupies the most preferred path, but the size of the most preferred path is still greater than or equal to the robot motion space, all robots move according to the original most preferred path; Step 500, taking the front fork or the rear fork of the bifurcated section as the initial position, the target position remains unchanged, and selecting the most preferred path according to steps 200 to 400 until each of the robots moves to the target position according to the shortest path; In step 500, when the robot is in different bifurcated sections, the steps for selecting the front fork or the rear fork of the bifurcated section as the initial position are as follows: Step 501: Taking the robot traveling on the selected optimal path as a navigation object, determining the bifurcation section where the dynamic obstacle is located; Step 502: if at least one robot is located in the bifurcated section where the dynamic obstacle is located, determine the front and rear positions of the dynamic obstacle of the robot, and determine whether the robot needs to reselect the most preferred path based on the front and rear positions of the dynamic obstacle of the robot; Step 503: For the robot that has deviated from the bifurcated section where the dynamic obstacle is located, the front bifurcated section or the rear bifurcated section where the robot is located is used as the initial position again.

2. A path navigation method for continuous motion of a robot according to claim 1, characterized in that: In step 100 and step 200, the multiple robots are at the same initial position and facing the same target position, and the multiple robots select the same optimal path in a manner that the path distance is shortest.

3. A method for path navigation of continuous motion of a robot according to claim 2, characterized in that: In step 200, the steps of setting the navigation path and selecting the most preferred path from the navigation path are as follows: Step 201: Count the motion paths that conform to the robot's motion space in the initial position and the target position based on the size of the robot, and all motion paths have intersections that are interconnected; Step 202: Determine whether the motion path that conforms to the robot's motion space contains obstacles that affect passage; Step 203: Screen out the motion paths corresponding to obstacles that affect the passage, and select multiple navigation paths from the initial position to the target position from the remaining motion paths; Step 204: calculate the path distances of multiple navigation paths, and take the navigation path with the shortest path distance and the lowest motion energy consumption as the most preferred path. All robots share the same most preferred path, and all robots move continuously in the most preferred path in sequence.

4. A robot continuous motion path navigation method according to claim 1, characterized in that: For the robot that deviates from the bifurcated section where the dynamic obstacle is located, the steps for reselecting the most optimal path are: Taking the front fork of the bifurcated section where the robot is located as the initial position, setting a navigation path from the initial position to the target position based on the principle of avoiding obstacles and reaching the target position, and determining at least one first navigation path taking the front fork of the bifurcated section where the robot is located as the initial position; Taking the rear fork of the bifurcated section where the robot is located as the initial position, setting a navigation path from the initial position to the target position based on the principle of avoiding obstacles and reaching the target position, and determining at least one second navigation path taking the rear fork of the bifurcated section where the robot is located as the initial position; A most preferred path is selected from the first navigation path and the second navigation path in a manner of shortest path distance.

5. A method for path navigation of continuous motion of a robot according to claim 4, characterized in that: Multiple robots that have been traveling on the original unified optimal path reselect different optimal paths; The multiple robots that have not traveled on the original unified optimal path select the optimal path according to steps 200 to 400, and the optimal paths selected by the multiple robots are the same.

6. A method for path navigation of continuous motion of a robot according to claim 1, characterized in that: When the dynamic obstacle and the robot are located in the same bifurcated section, and the dynamic obstacle is located in front of the robot, the robot takes the rear fork of the bifurcated section as the initial position, or takes the front fork or rear fork of the bifurcated section behind the bifurcated section where the robot is located as the initial position, and reselects the most preferred path in a way that minimizes the path distance; When the dynamic obstacle and the robot are located in the same bifurcated section and the dynamic obstacle is located behind the robot, the robot continues to move along the selected most preferred path.

7. A robot continuous motion path navigation method according to claim 1, characterized in that: In step 200, when marking all obstacles on the motion path, the location of the obstacles is determined by using the knowledge of the dynamic environment map, and the motion path that affects the motion is screened according to the spatial size of the motion path where the obstacles appear; In step 400 , a dynamic obstacle is detected using sensors of a leading robot among all robots.

8. A system based on the path navigation method for continuous motion of a robot according to any one of claims 1 to 7, characterized in that: include: The dynamic environment map module (1) is used to integrate the initial position, target position and the motion path from the initial position to the target position of the robot, and dynamically mark obstacles on the motion path; The motion path marking module (2) is used to mark the intersection between each motion path and other motion paths, and the two forks corresponding to each intersection; The navigation path selection module (3) is used to generate multiple navigation routes from the initial position to the target position using the initial position, the target position, obstacles and intersections as integrated parameters, and determine the most preferred path based on the principle of minimum path distance; The dynamic environment map module (1) marks obstacles on the motion path, determines fixed obstacles and the elimination of fixed obstacles through map knowledge, and determines dynamic obstacles through the robot's sensors. Each time the dynamic environment map module (1) dynamically marks an increase or decrease in obstacles on the motion path, the motion path marking module (2) and the navigation path selection module (3) are used to re-determine the most preferred path.

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