Layered topological structure based map splicing method for multi-robot system

Abstract

The invention belongs to the field of intelligent movable robots, and discloses a layered topological structure based map splicing method for a multi-robot system in an unknown environment and solves the map splicing problem of the multi-robot system in case the position and posture are unknown. The method comprises the following steps: acquiring an accessible space tree, building a layered topological structure, creating a global topological map, extracting SIFT (Scale Invariant Feature Transform) features and performing feature matching, and performing map splicing based on ICP (Iterative Closest Point) scanning matching. According to the invention, under the condition that the relative positions and gestures of robots are unknown, a layered topological structure merging SIFT features is provided, the global topological map is created in an increment manner, and the map splicing of the multi-robot system under large scale unknown environment is realized according to the SIFT information among the nodes, in combination with a scanning matching method; and the splicing accuracy and real-time performance are effectively improved. Therefore, the method is suitable for the field of intelligent mobile robots related to map creation and map splicing.

Description

technical field [0001] The invention belongs to the field of intelligent mobile robots, and relates to a multi-robot system map mosaic method in an unknown environment based on a layered topology. Background technique [0002] In recent years, the application of mobile robots has become more and more common, and various mobile robot systems with higher intelligence are playing an important role in different occasions. However, with the continuous extension of the field of human social activities and the continuous development of robotics research, a single mobile robot system is facing many difficulties when it replaces humans to complete tasks including large-scale disaster rescue, scientific investigation and other military missions, as well as battlefield environment monitoring. Such as: poor reliability, small scope of work, low efficiency of task completion, etc. And relevant research shows that a multi-robot system composed of multiple mobile robots can solve these pr...

AI Technical Summary

Problems solved by technology

However, the above methods are not applicable in environments lacking spatial constraints, and in large-scale unknown scenarios, misassociation of related features will introduce stitching errors

With the increasing maturity of the vSLAM (Visual SLAM) algorithm, some scholars try to integrate visual features into the system to solve the problem of map stitching accuracy, but the real-time problem of visual feature extraction is another problem.

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