ROUTE PLANNING METHOD FOR INTELLIGENT ROBOT

摘要

A path planning method of an intelligent robot includes: dividing an operating space into a plurality of rectangular virtual regions, and an area of each rectangular virtual region of the plurality of rectangular virtual regions is n*m square meters; controlling the intelligent robot to traverse the each rectangular virtual region with a bow-shaped behaviour; when traversing with the bow-shaped behaviour, building, by the intelligent robot, a raster map with distance information acquired by the distance information sensor, angle information acquired by the angle information sensor, collision information acquired by the collision detection sensor and obstacle information acquired by the obstacle detection sensor, and marking, by the intelligent robot, pass points, obstacle points and collision points; analyzing the raster map in real time to determine whether the entire operating space has been fully traversed, and when the entire operating space has been fully traversed, entering into the next step and when the entire operating space has not been fully traversed, returning to the step of controlling the intelligent robot to traverse the each rectangular virtual region with the bow-shaped behaviour; controlling the intelligent robot to make an alongst behaviour, and marking alongst behaviour points on the raster map.