Abstract: Service robot which should run in public environment should select road’s single side, while realizing harmony of human and robot. This paper designs door and wall grid map model, while this model is made of door grid, wall grid and midline grid, that is used to realize the restriction that the planned path must select the road’s single side. Conventional grid map model is appended with door grid, wall gird and midline grid to make the door and wall gird map model. The cost that wall grid to other grid is infinite, the set grids can be expanded by door grid, the midline is marked by midline gird. This paper uses the door and wall grid model and general arithmetic to plan path, and robot can move on certain side. It can be improved by experiment that the planed path can be limited to select road’s certain side by the door and wall gird map model.

Key words: service robot, door and wall grid map model, single side constraint, path planning