US 11,906,977 B2
Path planning method
Rongchuan Sun, Suzhou (CN); Junyi Wu, Suzhou (CN); Shumei Yu, Suzhou (CN); Guodong Chen, Suzhou (CN); and Lining Sun, Suzhou (CN)
Assigned to SOOCHOW UNIVERSITY, Suzhou (CN)
Appl. No. 17/910,842
Filed by SOOCHOW UNIVERSITY, Suzhou (CN)
PCT Filed May 7, 2022, PCT No. PCT/CN2022/091415
§ 371(c)(1), (2) Date Sep. 12, 2022,
PCT Pub. No. WO2022/233332, PCT Pub. Date Nov. 10, 2022.
Claims priority of application No. 202110494874.7 (CN), filed on May 7, 2021.
Prior Publication US 2023/0195134 A1, Jun. 22, 2023
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01)
CPC G05D 1/0274 (2013.01) [G05D 1/0221 (2013.01); G05D 1/0253 (2013.01)] 3 Claims
OG exemplary drawing
 
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.