Indoor map building method for improving robot path planning efficiency

An indoor map and path planning technology, applied in the field of indoor robots, can solve the problems of lack of specific information of the environment, difficulty in adapting to positioning, etc., and achieve the effect of avoiding planning and path planning algorithms being simple and efficient

Active Publication Date: 2015-09-09
UNIV OF SCI & TECH OF CHINA
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this method lacks the specific information of the environment, and it is difficult to adapt to tasks that require environmental characteristics such as positioning.

Method used

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  • Indoor map building method for improving robot path planning efficiency
  • Indoor map building method for improving robot path planning efficiency
  • Indoor map building method for improving robot path planning efficiency

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Embodiment 1

[0046] figure 1 An indoor map construction method that improves the efficiency of robot path planning is provided by an embodiment of the present invention. Such as figure 1 As shown, the method mainly includes the following steps:

[0047] Step 11. Express the topological map of the indoor environment to be scanned as an undirected graph G= including a room set V and a door set E.

[0048] The topological map established in the embodiment of the present invention uses rooms as nodes and doors between rooms as edges. In this solution, the topological map is established based on the detection of doors and the real-time movement of the robot, and a grid map is created at the same time.

[0049] In the indoor environment, different rooms can be distinguished by the position of the door, and the existing room segmentation methods are all based on extracting geometric features such as line segments, corner points, and polygons on the existing grid map, which is complex to calcula...

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Abstract

The invention discloses an indoor map building method for improving robot path planning efficiency. The method combines a topological map and a grid map, the planning problem happens in space represented by topological nodes, and planning of global space is avoided. In addition, laser is used for identifying a door in the indoor environment, a topological relationship between rooms is built, the process is merged in particle filter SLAM (simultaneous localization and mapping) algorithm, the grid map represented by the environment and the topological map based on the grid map can be obtained finally, and the path planning algorithm in robot navigation is simpler and more efficient.

Description

technical field [0001] The invention relates to the field of indoor robots, in particular to an indoor map construction method for improving the efficiency of robot path planning. Background technique [0002] In recent years, with the development and progress of science and technology, in the field of robotics, indoor service robots have set off a new wave of research and application. [0003] The autonomous positioning and navigation of the robot in the indoor environment requires an environmental map of the activity space as a prerequisite. Accurate map representation and creation become the key technology for the robot to move autonomously, and are also the basis for completing other indoor tasks. Commonly used environment representation methods include grid maps, geometric representation maps, feature maps and topological maps. [0004] Among them, the grid map divides the entire environment into several grids of the same size. In the grid map, a planning algorithm is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0274
Inventor 陈赢峰陈小平
Owner UNIV OF SCI & TECH OF CHINA
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