一种基于家用机器人的栅格地图路径搜索方法

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中图分类号：TP242.6；TP301.6 文献标识码：A 文章编号：2096-4706（2025）12-0097-05

A Grid Map PathfindingMethod Based on Domestic Robot

LI Gentang

（Zhuhai Amicro Semiconductor Co.， Ltd.， Zhuhai 519075，China）

Abstract： In a complex home environment， when domestic robots perform cleaning tasks， they usually need to move between various positions，and various obstacles canbe encountered during the proces.In order to effectivelyreduce the contact between therobotand these obstaclesand enable it toreachthe predetermined target positionsmoothly，apathfinding method basedona grid map is proposed.This method adjusts the original weightofreferencegrids near obstacles by ading anaditional weight，sothatthe weightedvalueofthesereferencegrids issignificantly higherthanthatofotheradjacent referencegrids，soas toguidethedomesticrobottomove towardsreference grids withlower weight.Thisstrategynotonly fectively maintains thesafedistance betweentherobotandtheobstacle，butalsoreduces theriskofcolisionandimproves the traffic efficiency of the robot.

Keywords： sweeping robot; grid map; path planning

0 引言

扫地机器人的核心功能是自动在房间内完成地板清理工作，它通过一定的人工智能技术，能够自主规划清扫路径，有效覆盖整个房间区域。（剩余5876字）