Blind Travel Prediction Based on Obstacle Avoidance in Indoor Scene

Algorithm 1

A computing algorithm of adjacency matrix of grid connectivity.

Input: The set of obstacle spatial distribution, ; the side length of gird, .

Output: The adjacency matrix of grid connectivity, .

1  Initialize a matrix with 0, the shape of is ().

2  for each do

3   for each do

4    // Determine whether the current grid is an obstacle grid

5    ifthen

6    else

7     ifthen

8     else ifthen

9      // Determine the connectivity of front.

10      ifthen, , 1

11      // Determine the connectivity of left.

12      else if & then, , 1

13      else ifthen

14       ifthen, , 1

15       end if

16       // Determine the connectivity of right.

17       if & then, , 1

18       end if

19      // Determine the connectivity of front left.

20      else if & then, , 1

21      // Determine the connectivity of front right.

22      else if & & then, , 1

23      // Determine the connectivity of back.

24      else ifthen, , 1

25      // Determine the connectivity of back left.

26      else if & then, , 1

27      // Determine the connectivity of back right.

28      else if & & then, , 1

29      end if

30    end if

31   end if

32  end for

33 end for

34 final

35 return