An in-home mobile robot path planning method to enhance learning map

The present invention discloses an enhanced indoor mobile robot path planning map learning method comprises the following steps: (1) obtain information on the environment, build barriers probability density model; (2) using the greedy algorithm and enhancements to map learning path planning; ( 3) indoor mobile robot path selection and adaptive speed adjustment strategy. Map used to enhance learning path planning can be based on the current situation and the inherent constraints of non-complete robot indoor mobile robots, real-time planning the current best path, while adaptive speed adjustment strategy may take into account the capacity of the indoor obstacle mobile robot, the target point of convergence capacity planning and efficiency, indoor mobile robot capable of safely and effectively arrived at the designated location.