Navigation method of robot, chip and robot

A navigation method of a robot, the navigation method comprises:

• step A1, after a robot is triggered to relocate, judging whether a current position of the robot is connected to a preset known grid area by a first area judgment method or not, when the current position of the robot is connected to a preset known grid area by a first area judgment method, step A2 is performed, otherwise step A3 is performed;
• step A2, using a path search algorithm to obtain a latest planning path, and then moving back to a relocalization target position along the latest planning path;
• step A3, marking all the unknown grids within a detectable distance of a sensor of the robot as pre-configured passable grids so that a path search algorithm is directly called to plan the path, and then using the path search algorithm to obtain a latest planning path, and then moving along the latest planning path until determining the current position of the robot is connected to the preset known grid area by a second area judgment method, and then marking the pre-configured passable grid as an unknown grid, and then step A2 is performed;
• wherein, the relocalization target position is a working position recorded within the preset known grid area before the robot is triggered to relocate;
• the current position of the robot is determined after the robot is triggered to relocate;
• the unknown grid is an unclear grid when the robot constructs the map;
• at step A1, the first area judgment method comprises:
• step 1, searching for a connected domain by searching the closest known grid within a neighborhood, until it is determined that a latest searched known grid meets a first area passage condition, the current position of the robot is connected to the preset known grid area, wherein a local map constructed by the robot at its current position does not overlap with the preset known grid area;
• step 2, after a search of all known grids within the longest distance passable is completed by the connected domain search described in the step 1, if it is determined that a latest searched known grid does not meet the first area passage condition, and then step 3 is performed;
• step 3, searching for a connected domain by searching the closest grid within a neighborhood, until it is determined that a latest searched known grid meets a second area passage condition, the current position of the robot is not connected with the preset known grid area;
• step 4, after a search of all the grids within the longest distance searchable is completed by the connected domain search described in the step 3, if it is determined that a latest searched known grid does not meet the second area passage condition, determining that the current position of the robot is connected to the preset known grid area, wherein a local map constructed by the robot at its current position overlaps with the preset known grid area;
• when line segment length between the current position of the robot and a latest searched known grid determined in the step 1 is greater than a diameter of a body of the robot, meeting the first area passage condition;
• when line segment length between the current position of the robot and a latest searched known grid determined in the step 3 is greater than a diameter of a body of the robot, meeting the second area passage condition;
• at step A3, the second area judgment method comprises:
• step A31, updating the current position of the robot as a currently searched position of the robot, wherein, the current position of the robot comprises the position where the robot is triggered to relocate;
• step A32, with the currently searched position of the robot as a starting point, along a current movement direction of the robot, judging whether the neighborhood grid of the currently searched position of the robot is a known grid or not, when the neighborhood grid of the currently searched position of the robot is a known grid, obtaining the line segment length between the neighborhood grid of the currently searched position of the robot and the current position of the robot, and then step A33 is performed, otherwise stopping searching for new neighborhood grids and controlling the robot to continue to move along the latest planning path;
• step A33, judging whether the line segment length between a neighborhood grid of the currently searched position of the robot and the current position of the robot is greater than a preset passable distance or not, when the line segment length between a neighborhood grid of the currently searched position of the robot and the current position of the robot is greater than a preset passable distance, determining that the current position of the robot is connected to the preset known grid area, otherwise updating a neighborhood grid of the currently searched position of the robot as the currently searched position of the robot;
• and then step A32 is performed;
• wherein, the preset passable distance is greater than a diameter of a body of the robot, and the preset passable distance is less than or equal to twice the diameter of a body of the robot;
• the neighborhood grid of the currently searched position of the robot comprises 8 adjacent grids on the grid map constructed by the robot, these 8 adjacent grids are centered on the currently searched position of the robot;
• the known grids in these 8 grids are the known neighborhood grids;
• the preset known grid area is a map area in which the robot constructed and stored in the same motion area before performing the first area judgment method;
• the same motion area comprises a known map area prereached by the robot.