Intelligent emergency disposal robot and obstacle avoidance method thereof

The invention provides an intelligent emergency disposal robot and an obstacle avoidance method thereof. An emergency disposal area is divided into a channel safety area and an emergency obstacle area through obstacle distribution data; determining the obstacle convergence entropy of the channel when passing through each obstacle point according to the emergency obstacle area, determining an initial safe channel according to the channel safe area, and correcting through the channel corner of the initial safe channel and all the obstacle convergence entropies to obtain the obstacle density of the corrected channel; determining an emergency urgency factor of the emergency disposal according to the historical movement record and the emergency limit time of the emergency disposal at the current moment; the navigation channel direction is predicted through the obstacle density and the emergency urgency factor, the obstacle avoidance navigation channel direction of the robot at the next moment is regulated and cont