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A Construction Mechanism of Probabilistic Indoor Obstacle Distribution Map

An obstacle and distribution map technology, which is applied in the field of obstacle distribution map construction, can solve the problems of obstacle distribution map, cannot be built irregularly indoors, and it is difficult for robots to quickly detect boundaries, etc., and achieves a simple and feasible construction method. Effect

Active Publication Date: 2018-04-13
GUANGZHOU UNIVERSITY
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Problems solved by technology

[0005] The invention proposes a probabilistic indoor obstacle distribution map construction mechanism, which solves the problem that in the prior art, it is difficult for robots to quickly find out the boundaries. The problem of establishing obstacle distribution map indoors

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  • A Construction Mechanism of Probabilistic Indoor Obstacle Distribution Map
  • A Construction Mechanism of Probabilistic Indoor Obstacle Distribution Map
  • A Construction Mechanism of Probabilistic Indoor Obstacle Distribution Map

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Embodiment Construction

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0026] A construction mechanism of probabilistic indoor obstacle distribution map, including the following steps:

[0027] Step 1: The indoor area is regarded as composed of many basic grid elements, the grid elements are square, and the size of the grid elements is u; the smaller the grid elements, the more accurate the distribution map, and the size of the grid elements is greater than or equal to the robot For direction error, the grid unit size can be set to 5c...

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Abstract

The invention provides a probability type indoor barrier distribution map establishing mechanism. The mechanism comprises main steps that 1) an indoor region is composed of square basic grid components of the size of u; 2) the forwarding step length of a robot is set as s, s=n*u, and n is an integer greater than or equivalent to 1; and 3) the central position of a maximal unknown area in a last search result is set as a starting point, whether there is a barrier in front is detected when the robot moves forwards in each step, if yes, the attribute of the grid component is set as barrier, and otherwise, the attribute of the grid component is set as non-barrier. In the detection process, to avoid the robot from being incapable of moving out of a position whose three sides include barriers, the rotation direction is selected according to the probability p, and p is set greater than 0.5. At the same time, the preset step length value after search can be adapted to the size of a cleaning area. The barrier distribution map establishing mechanism can rapidly detect the indoor boundary, establish an irregular indoor barrier distribution map, and thus, the robot can move out of the position whose three sides include barriers.

Description

technical field [0001] The invention relates to the construction of an obstacle distribution map, in particular to a construction mechanism of a probabilistic indoor obstacle distribution map. Background technique [0002] As the application of robots becomes more and more widespread, people's requirements for robots continue to increase. As an important branch of robot applications, service robots are gradually showing their importance in production and life. To complete a certain task indoors, a robot must first construct an indoor obstacle distribution map. The construction of an indoor obstacle distribution map is the most basic and also the most important issue in robot research. How to make the robot quickly detect the indoor boundary and how to avoid When the robot encounters an obstacle, it turns out quickly. How to establish an obstacle distribution map in an irregular room is a problem that those skilled in the art need to continue to study. [0003] At present, m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 刘外喜吴颢刘长红高鹰陈亮东
Owner GUANGZHOU UNIVERSITY
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