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Method and apparatus for constructing map for mobile robot

A technology of mobile robots and robots, applied in maps/plans/charts, instruments, manipulators, etc., can solve problems such as not having spatial index information, not suitable for path planning, and complex positions

Inactive Publication Date: 2014-11-12
HANWHA DEFENSE SYST
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, since the quadtree-based environmental map construction method does not have spatial index information, it requires a long approach time to approach any node, and searching for the location of the stored data is complicated, so the quadtree-based environmental map construction method is not suitable for path plan

Method used

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  • Method and apparatus for constructing map for mobile robot
  • Method and apparatus for constructing map for mobile robot
  • Method and apparatus for constructing map for mobile robot

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Embodiment Construction

[0033] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0034]The inventive concept allows various types of changes or modifications and has a plurality of embodiments, and specific exemplary embodiments will be shown in the accompanying drawings and will be described in detail in the following detailed description. However, it should be understood that the specific embodiments do not limit the inventive concept to a specific disclosed form, but include various modifications, equivalents or substitutions within the spirit and technical scope of the inventive concept. In the following description, well-known techniques are not described in detail so as not to obscure the exemplary embodiments with unnecessary detail.

[0035] Although terms such as 'first' and 'second' may be used to describe various embodiments, elements should not be limited by the terms. Terms can be used to classify a particular element fr...

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Abstract

A method and apparatus for constructing a map for a mobile robot to be able to reduce a data amount and increase an approach speed. The method includes: searching for a plurality of feature data occupying an arbitrary space by scanning a surrounding environment of the mobile robot; performing quadtree segmentation on first feature data of the plurality of feature data to generate a plurality of first node information as a result of the quadtree segmentation; determining a position of second feature data of the plurality of feature data with respect to the first feature data; and performing a neighborhood moving algorithm for generating a plurality of second node information of the second feature data according to the position of second feature data by using the plurality of first node information.

Description

[0001] This application claims priority from Korean Patent Application No. 10-2013-0051497 filed with the Korean Intellectual Property Office on May 7, 2013, the disclosure of which is hereby incorporated by reference in its entirety. technical field [0002] Apparatuses and methods consistent with exemplary embodiments relate to building maps for mobile robots to reduce data volume and increase approach speed. Background technique [0003] A mobile robot should not only be aware of its own position in a given environment, but also build a map of its surroundings when entering a new, previously unexplored environment. The operation of constructing a map for a mobile robot includes the tasks of recognizing the positions of nearby obstacles or objects, open spaces where the mobile robot can move freely, etc., and recording the information obtained by the recognition in an appropriate method. [0004] Methods of constructing maps for mobile robots can be broadly classified into...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/30G09B29/00
CPCG05D1/0246G06T7/0042G06K9/00791G05D1/0212G05D1/024G05D1/0242G05D1/0255G05D1/0274G06V20/10G06V10/765G05B19/42B25J9/16G06F18/2163
Inventor 金东信
Owner HANWHA DEFENSE SYST
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