公开(公告)号：US20230195134A1

公开(公告)日：2023-06-22

申请号：US17910842

申请日：2022-05-07

申请人： SOOCHOW UNIVERSITY

发明人： Rongchuan SUN ,  Junyi WU ,  Shumei YU ,  Guodong CHEN ,  Lining SUN

IPC分类号： G05D1/02

CPC分类号： G05D1/0274 ,  G05D1/0253 ,  G05D1/0221

摘要： The present invention discloses a path planning method, including the following steps: 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 energy into the 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; and planning a path based on the updated episodic cognitive map. The potential safe path in an environment may be detected, and a better path may be planned based on the updated episodic memory model.