CONTEXT BASED PATH PLANNING FOR VECTOR NAVIGATION IN HEXAGONAL SPATIAL MAPS

摘要

Path planning for a robot is a compute intensive task. For a dynamic environment this is more cumbersome where position and orientation of objects changes often. Embodiments of the present disclosure provide systems and methods for context based path planning for vector navigation in hexagonal spatial maps. A 2-D environment is represented into a hexagonal grid map that includes hexagonal grid cells, objects are identified based on a comparison of RGB value associated with contiguous cells. Candidate contexts are determined based on objects identified. The hexagonal grid map is rotated at various angles and compared with pre-defined map(s) to determine quantitative measure of similarity for contexts identification from the candidate contexts, based upon which a path is dynamically planned for easy and efficient vector navigation within the hexagonal grid map. The embodiments further enable generating paths for different contexts using navigable common object(s) identified between intersections of the different contexts.