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|1. (WO2018121448) TOPOLOGY MAP CREATION METHOD AND NAVIGATION METHOD FOR MOBILE ROBOT, PROGRAMMABLE DEVICE, AND COMPUTER READABLE MEDIUM|
|Applicants:||SHEN ZHEN 3IROBOTICS CO., LTD.
|Title:||TOPOLOGY MAP CREATION METHOD AND NAVIGATION METHOD FOR MOBILE ROBOT, PROGRAMMABLE DEVICE, AND COMPUTER READABLE MEDIUM|
A topology map creation method and a navigation method for a mobile robot, a programmable device, and a computer readable medium. The creation method comprises: S1: building a current area according to acquired environmental information of a current position of a mobile robot; S2: determining whether the current area meets a sub-area division condition, if so, entering step S3, and if not, entering step S4; S3: dividing the current area into at least two sub-areas, inclusive of a sub-area of the current position, which are connected by a border, and then entering step S5; S4: taking the current area as a sub-area of the current position, and then entering S5; S5: creating a local map in the sub-area of the current position, and storing same; S6: determining whether there is a sub-area in which the local map has not been created, if so, entering step S7, and if not, entering step S8; S7: the mobile robot moving to the sub-area in which the local map has not been created, and updating the current position information and then returning to step S1; S8: creating a topology map by taking the sub-area as a node, and the border as an edge.