Path planning method

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.