Node robot path planning method based on intelligent movement

The invention discloses a node robot path planning method based on intelligent movement. The method comprises the steps of human cluster global environment construction framework analysis, unknown boundary point search method use, map fusion construction and a multi-mobile robot cluster collaborative formation mechanism. The method has the beneficial effects that the target distribution probability model is established by considering known information such as search environment factors, target motion laws and dynamic characteristics, so that the known information before search is fully utilized, the target position can be quickly searched and found, and the search efficiency is improved. Meanwhile, an uncertainty concept is introduced, the target existence probability is converted into gravitational force and repulsive force, so that an artificial potential field is formed, the optimal search path is calculated according to the artificial potential field, and the search process is more efficient. 本发明公开了一种基于智能