NAVIGATION USING PLANNED ROBOT TRAVEL PATHS

A method for generating a navigation map of an environment in which a plurality of robots will navigate, includes obtaining an image of the environment defined by a plurality of pixels, each having acost value. The environment includes an image of a fixed object having a set of pixels corresponding to its location and having a first defined cost value. The method includes obtaining a planned pathimage for the robots, which include a first set of pixels corresponding to the location of each robot in the environment and a second set of pixels adjacent to the first set of pixels and extending along a planned path of travel toward a destination. The first set of pixels of each robot having the first defined cost value and the second set of pixels having a second defined cost value. The second defined cost value is less than the first defined cost value. 种生成环境的导航地图的方法，其中，多个机器人将在该环境中导航，该方法包括获取由多个像素限定的环境的图像，每个像素具有成本值。该环境包括固定物体的图像，固定物体的图像具有与其位置相对应并具有第定义成本值的像素集。该方法包括获取机器人的规划路径图像，其包括与环境中的每个机器人的位置相对应的第像素集和邻近于第像素集并沿着朝向目的