Ground autonomous mobile robot safety navigation method based on formal description

The invention provides a ground autonomous mobile robot safety navigation method based on formal description. An abstract model of an autonomous robot navigation system is established, a formal method is used to describe a robot safety navigation algorithm, safety constraints of the navigation system are analyzed, and the algorithm is solved and verified under the constraints. The system model is established on the basis of a robot omnidirectional movement platform, the provided autonomous navigation algorithm follows restrictions of passive friendly safety, and the formal method is used to resolve control input to be verified in the navigation system. The effective robot autonomous navigation algorithm is provided, and differential dynamic logics are used to solve safety control input of next moment according to the present operation state of the system. The method can be applied to the autonomous navigation system of the robot, and the completeness of a safety mechanism of the navigation system is ensured.