| 摘要 |
Robot platforms (10OA, IOOB and 1OOC), methods, and computer readable media are disclosed. The robot platform includes perceptors, locomotors (175), and a system controller. The system controller (110) executes instructions for producing an occupancy grid (390) map of an environment around the robot, scanning the environment to generate a current obstacle map relative to a current robot position, and converting the current obstacle map to a current occupancy grid (390) map. The instructions also include processing each grid cell (395) in the occupancy grid (390) map. Within the processing of each grid cell (395), the instructions include comparing each gpd cell (395) in the occupancy grid (390) map to a corresponding grid cell (395) in the current occupancy grid (390) map. For grid cells (395) with a difference, the instructions include defining a change vector for each changed grid cell (395), wherein the change vector includes a direction from the robot to the changed grid cell (395) and a range from the robot to the changed grid cell (395). |
