The movement process of the service robot needs to go through functions such as map construction, path planning, speed planning, and roadblock avoidance, as shown in the figure below.
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![image](https://www.ulavu.com/upload/photos/2023/09/UDQRr1X5dKm4ZMKqZXnb_06_8aee0391cd1e8b295abea628f129999e_image.png)