DEVICE FOR SEARCHING AREA AND MAPPING FOR PATH OF INTELLIGENT ROBOT IN UNKNOWN ENVIRONMENTS

摘要

Way exploration and field heuristic approach of the heuristic algorithm of this hair in circumstances not known, from the majority sensor module that intelligent robot is installed, the 1st stage of the periphery realm information of a robot is explored from current position, according to the periphery realm information of desired attention, the second stage that the status information of each side is assigned on the website by map is cherished the memory of in formationThe phase III is played from the electronic map of generation, it is phase III and the recreation area of setting in the rectangular field that the upper robot of setting can explore, use Rectangle Tiling skill and technique, the tetragonal field of the majority of fourth stage and setting that multiple rectangular fields are set. According to the 5th stage generate mixing map and polo moral map the 5th stage, and the 6th stage saved, and in four rectangular fields of above-mentioned fourth stage design in maximum field maximum field R1(Rectang-Based hbrid) the 7th stage, in the fields R1 of setting, as above-mentioned robot is mobile, utilize above-mentioned a large amount of sensor module, in the 8th stage and above-mentioned 8th stage for exploring new periphery realm information, contain newest periphery realm information, and the 9th stage updated in new map and hide maps is characterized by Party B.