Method for controlling motion of robot based on map prediction

A method for controlling a motion of a robot based on map prediction, the robot in the method comprising a body, left and right action wheels, a main control component, a front collision detection sensor, a left obstacle detection sensor, and a right obstacle detection sensor, the main control component having a map management function and a robot positioning function, the method comprising:

• step one, controlling the robot to walk toward a wall surface on a map, when the robot collides with a first touch point of an obstacle, determining whether a distance from the obstacle to the wall surface on the map is less than a set distance A, when the distance is less than a set distance A, determining a straight line L1 with the same angle as the wall surface on the map by taking a position of the obstacle currently collided as a reference point, setting the straight line L1 as a prediction wall surface, controlling the robot to walk along this prediction wall surface, and when the distance is not less than a set distance A, proceeding to step two;
• and
• step two, controlling the robot to detect a second touch point of the obstacle at an interval of the first touch point, when there is a second touch point, determining a straight line L2 according to the two touch points, setting the straight line L2 as a prediction wall surface, controlling the robot to walk along this prediction wall surface, and otherwise, returning to step one,
• wherein in a process of controlling the robot to walk along the prediction wall surface, an obstacle detection sensor, which is located at one side of the robot and relative to the prediction wall surface, is used for detecting whether the obstacle at this side is present at a set time interval T, when an obstacle signal is not detected continuously, the robot is controlled to walk along an arc-shaped route toward the inside of the prediction wall surface, and the process returns to step one.