公开(公告)号：US20240152160A1

公开(公告)日：2024-05-09

申请号：US18280950

申请日：2021-10-27

Applicant: AMICRO SEMICONDUCTOR CO., LTD.

Inventor： Jinjie CHEN ,  Huibao HUANG ,  Gangjun XIAO

IPC: G05D1/648 ,  G01C21/00 ,  G01C21/20 ,  G05D1/246

CPC classification number: G05D1/648 ,  G01C21/206 ,  G01C21/383 ,  G05D1/246 ,  G05D2105/87

Abstract: Disclosed are a map exploration method for exploring an unknown region by a robot, a chip, and the robot. The map exploration method includes: step S1: acquiring frontier points that meet a preset passing condition by means of a frontier detector based on a rapid exploration random tree algorithm; step S2: filtering out frontier points for exploring the unknown region among the frontier points acquired in step S1; step S3: on the basis of navigation costs of frontier points explored by the robot at a current position and income information corresponding to the navigation costs, and by considering a passable condition of the frontier points, selecting a frontier point with the highest revenue from the frontier points filtered out in step S2, configuring the frontier point as a target point, and then controlling the robot to move from the current position to the target point, thereby building a local map.