Service robot autonomous navigation method based on deformable topological map

A service robot and topological map technology, which is applied in the field of autonomous navigation of service robots based on deformable topological maps, can solve problems such as unobstructed information processing and incomplete maps, and achieve autonomous navigation, reduced labor intensity, and improved accuracy and efficiency Effect

Inactive Publication Date: 2010-01-06
SHANGHAI JIAO TONG UNIV
View PDF1 Cites 79 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] After searching the literature of the prior art, it is found that the patent publication number CN101033971A, published on September 12, 2007, records a "mobile robot map creation system and map creation method", which distributes wireless sensor network nodes on Monitor the area and form a wireless sensor network, construct a global topological mobile map based on the data of wireless sensor network nodes; this method needs to lay a considerable number of wireless sensors in advance, and the obtained map will be incomplete due to the default of the sensor in the corresponding position
[0004] After searching, it was found that John J.Leonard and Hugh F.Durrant-Whyte of Princeton University et a...

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Service robot autonomous navigation method based on deformable topological map
  • Service robot autonomous navigation method based on deformable topological map
  • Service robot autonomous navigation method based on deformable topological map

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0022] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.

[0023] Such as figure 1 As shown, this embodiment includes the following steps: the first step, first connect the laser three-dimensional scanning sensor, the tilt sensor and six ultrasonic sensors to the service robot in parallel and respectively install the ultrasonic sensors around the service robot, and then set the laser three-dimensional The scanning sensor collects environmental data with a sampling period of 1 millisecond and performs analog-to-digital conversion to obtain the original three-dimensional environmental data; then set the tilt sensor to measure t...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a service robot autonomous navigation method based on a deformable topological map in the technical field of robot navigation, which comprises the following steps: collecting the geography and physiognomy condition of an indoor and outdoor environment in which a robot is located in real time by a SLAM technology; extracting environmental characteristics; creating a topological map of collected information and establishing the needed different sizes of a topological point according to the posture change of the service robot in the foundation; taking the sizes as input amount to reconstruct the topological map; and generating a topological point self-adapting topological map conforming to the posture change of the mobile robot.

Description

technical field [0001] The invention relates to a method in the technical field of robot navigation, in particular to an autonomous navigation method for a service robot based on a deformable topological map. Background technique [0002] In recent years, with the development of computer, sensor and network technology, it has become possible for robots to enter the home. The focus of people's attention has also shifted from fixed robotic arms and manipulators in structured environments to autonomous mobile intelligent robots in non-structural unknown environments. The traditional method of modeling the space environment of the manipulator based on the factory environment and teaching motion has been unable to meet the new tasks faced by autonomous mobile robots, such as the problem of generating motion paths for dual-arm service robots in a known environment. In the past, most of the mobile path maps of robots in a given environment used topological path maps. Topological m...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G01C21/30G01C21/32
Inventor 樊征曹其新刘忠罗伟航
Owner SHANGHAI JIAO TONG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap