Mobile robot grating map creating method of real-time data fusion

A mobile robot and grid map technology, applied in physical realization, biological neural network model, road network navigator, etc., can solve the problems of overly sensitive error information, high misjudgment rate, and low accuracy
CN101413806AInactive Publication Date: 2009-04-22HUNAN UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
HUNAN UNIV
Publication Date
2009-04-22
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention provides a building method of a grid map by a mobile robot based on real-time data fusion. The method comprises the following steps: artificially dividing an environment into a plurality of grids with the same size, and obtaining the distance information by sonar sensors arranged on the front end of the mobile robot; extracting measured values of three sonar sensors which are closest to a currently computed grid unit at the same time, respectively explaining a single sonar data by a fuzzy logic and a probability theory so as to obtain a group of characteristic vectors which are subject to the data fusion as input vectors of a neural network, wherein, output values of the neural network comprises idle state, busy state and undefined state of the grid; finally updating the state of the grid by the Bayes rule. The mobile robot of the invention obtains the environmental information by sonar ranging finders and completes the environmental modeling, thus providing reliable basis for the subsequent autonomous navigation of the mobile robot.
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Description

technical field

[0001] The invention belongs to the technical field of robots and artificial intelligence, and relates to a real-time data fusion mobile robot grid map creation method. Background technique

[0002] In the past 20 years, with the rapid development of artificial intelligence technology and computer technology, research on autonomous intelligent mobile robots has received significant attention. It requires the ability to automatically obtain surrounding environmental information through its own sensors such as rangefinders, cameras, infrared, etc., establish a spatial environment model and identify its own current position, and move along an automatically planned effective path to complete specific tasks. At present, intelligent mobile robots are widely used in industry and agriculture, transportation, military, medical and health industries, etc., to solve work problems in dangerous environments and replace human heavy work. In order to improve the working ab...

Claims

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