| 摘要 |
The idea according tot he invention is to divide a given area into cells, each of which is being indicated as treated, untreated or occupied by an obstacke, and to determine a navigation route, to an untreated cell, that requires the smallest amoung of energa according to a predetermined energy cost funciton.. The apparatus is then navigated for the current cell to the untreated cell according to the navigation route and the indication of that cell is updated as treated. Preferably, the energy cost function depends both on the distance from eh current cell to the untreated cell as well as the total change of direction require for moving thereto, a larger change of direction and a larger distance being given a larger cost. Preferably, the task of determining a navigation route to an untreated cell is based on an efficient structured search procedure of low computational complexity. |
