One kind of supermarket shopping robot and its travel path planning method

One kind of supermarket shopping and travel path planning for a robot, the robot system by the positioning module, an ultrasonic ranging module, the controller module and the motor driving module; current location module via an electronic compass attitude angle information detected supermarket robot by photoelectric the encoder records the mileage of the robot travels, and transmits the data to the controller module, the controller module corrected using the compensation angle measurement algorithm DEVIATION; obstacle information transmitted from the detected ultrasonic ranging module obtained to the controller module; control module calculates the current position coordinates of the robot according to the posture angle and the travel mileage, binding target position and distance of the obstacle, the next step is determined walking pattern. The invention improves the accuracy of the robot attitude, can effectively avoid the static and dynamic obstacles, improve intelligence, practicality and environmental adaptability supermarket shopping robot.