Path fusion planning method for passage area, robot and chip

[0027] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0028] It should be noted that those skilled in the art can understand that the environment information around the current position of the robot is marked in the grid map, and the grids in the map area constructed by the robot include those marked as free, occupied and Unknown (unknown) three states; These grids are represented by grid points in this embodiment, that is, the center point of the grid; the grid points in the idle state refer to the grids that are not occupied by obstacles, which are accessible to the robot. The grid position points of , are free grid points, which can form an unoccupied area; the occupied grid points refer to the grids occupied by obstacles, which are obstacle grid points, and can form an occupied area; unknown grid points A point refers to a grid area where the specific situation is not clear in the process of r