Patent ID: 11906977
Assignee: SOOCHOW UNIVERSITY
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A path planning method for improving a navigation efficiency of a mobile robot, comprising the following steps:
providing the mobile robot;
establishing an empirical map and a corresponding episodic cognitive map using a RatSLAM algorithm based on an episodic memory model;
extracting a road edge in a historical memory image with a Canny operator;
performing conversion to a world coordinate system from a pixel coordinate system based on the road edge, and preliminarily judging connectivity according to slope of the road edge;
continuously injecting electric energy into a potential path detection network according to continuous observation of a potential path, so as to further judge the road connectivity;
fusing the detected potential path and the original episodic cognitive map, and correspondingly updating the empirical map;
planning a path based on the updated episodic cognitive map; and
fusing the path based on the updated episodic cognitive map to the mobile robot to improve the navigation efficiency of the mobile robot,
wherein the episodic memory model is a path planning algorithm;
the episodic cognitive map is a two-dimensional incremental matrix and composed of a discrete limited event space and an event transition set;
the preliminarily judging connectivity according to slope of the road edge comprises:
when an absolute value of a difference between the slope of the road edge is less than a set threshold, determining that there exists a possibility of connection between two points;
the potential path detection network has a two-dimensional network structure proposed under inspiration of a continuous attractor network in a RatSLAM model, and is configured to simulate a process of judging whether roads are connected by living things;
the updated episodic cognitive map is a new map obtained by correcting an event transition weight in the original episodic cognitive map according to the detected potential path.