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

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

CN101619985AInactive Publication Date: 2010-01-06SHANGHAI JIAO TONG UNIV
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  • 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

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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...

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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

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Application Information

Patent Timeline
06 Jan 2010
Publication
CN101619985A
IPC
G01C21/30; G01C21/32
Inventors
樊征; 曹其新