OBSTACLE-CROSSING TERMINATION DETERMINATION METHOD, OBSTACLE-CROSSING CONTROL METHOD, CHIP, AND ROBOT

摘要

An obstacle-crossing termination determination method, an obstacle-crossing control method, a chip, and a robot. The obstacle-crossing termination determination method comprises: when a robot walks along an edge according to a pre-planned shortest predicted path along the edge, selecting a second preset turning point set, which meets a guiding condition, from a preset navigation path (S101); acquiring an optimal turning point from the second preset turning point set, which meets the guiding condition (S102), such that the optimal turning point is a turning point, the distance between which and the current position of the robot is closest to an obstacle-crossing determination threshold value, from among all the turning points in the second preset turning point set, which meets the guiding condition; determining whether an obstacle is marked on a line segment which connects the optimal turning point to the current position of the robot (S103); if so, determining that the current obstacle crossing performed by the robot is not terminated (S104); otherwise, determining that the current obstacle crossing performed by the robot is terminated (S105). By using the obstacle-crossing termination determination method, the obstacle crossing speed and navigation efficiency of the robot are improved. By using the obstacle-crossing control method, the robot is controlled, on the basis of the obstacle-crossing termination determination method, to terminate obstacle crossing along an edge and to return to a navigation path.