Decision-making method, system and device for autonomously exploring target and storage medium

The invention discloses a decision-making method for autonomously exploring a target, and the method comprises the steps: obtaining an environment map, and recording a traversed pose queue of a roboton the environment map; generating a searched area according to the environment map, the pose queue and view field range information of a sensor used for detecting an interested target; calculating ato-be-explored target point set according to the open area and the unknown area in the searched area; and selecting a navigation point from the to-be-explored target point set, and navigating the robot to the navigation point. The efficiency of autonomously exploring the target by the robot can be improved. 本发明公开了一种自主探索目标的决策方法，所述决策方法包括：获取环境地图，在所述环境地图上记录有所述机器人的已遍历位姿队列；根据所述环境地图、所述位姿队列、用于检测感兴趣目标的传感器的视场范围信息生成已搜寻区域；根据所述已搜寻区域内的空旷区域和未知区域计算待探索目标点集合；在所述待探索目标点集合中选取导航点，导航所述机器人至导航点。本发明可以提高机器人自主探索目标的效率。