Robot navigation resumption planning method based on obstacle inflation processing

Abstract

A robot navigation resumption planning method based on obstacle inflation processing. The method comprises: step A, when a robot scans a hazardous obstacle, marking a region occupied by the hazardous obstacle, then performing an inflation operation on the region occupied by the hazardous obstacle, so as to obtain an expanded map, the robot then moving along a boundary of an inflated hazardous obstacle region, and also, marking, as a boundary-following closed path, a path to be formed for the robot to move along an obstacle avoidance boundary of the expanded map; step B, the robot removing an inflated obstacle avoidance region corresponding to the hazardous obstacle in the expanded map, so as to obtain a preprocessed map, and then executing a flood fill algorithm on the preprocessed map; step C, the robot removing a boundary-following compensation path from the boundary-following closed path, so as to obtain an effective boundary-following path; step D, on the basis of a filled passable region in the preprocessed map and the effective boundary-following path, calculating a target navigation point; and step E, determining a region in which the target navigation point is located and the reachability of the target navigation point, so as to guide the robot to move toward the target navigation point.

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