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Closed loop correction method for indoor environment map creation

A closed-loop correction and map creation technology, applied in measurement devices, instruments, surveying and navigation, etc., can solve the problems of low closed-loop, failure, high cost, etc., and achieve the effect of promoting low cost and improving closed-loop effect.

Active Publication Date: 2015-10-07
平邑经济开发区投资发展有限公司
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Problems solved by technology

However, the high-precision laser sensor SICK LMS has the problem of high cost; while the low-cost laser sensor RPLidar has the problem of relatively high precision and low closed-loop failure

Method used

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  • Closed loop correction method for indoor environment map creation
  • Closed loop correction method for indoor environment map creation
  • Closed loop correction method for indoor environment map creation

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Embodiment Construction

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

[0034] image 3 A schematic diagram of the steps of the closed-loop correction method created for the indoor environment map of the present invention, as a specific embodiment of the present invention, such as image 3 As shown, the present invention provides a closed-loop correction method for creating an indoor environment map, including:

[0035] Step 1 Obtain environmental information and mark the initial pose information of the robot;

[0036] Step 2: Record the real-time pose information o...

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Abstract

The invention provides a closed loop correction method for indoor environment map creation. The method comprises the following steps: 1, acquiring environment information, and labeling the initial pose information of a robot; 2, recording the real-time pose information of the robot after the walking distance of the robot exceeds a prescribed range, and generating an environment map by adopting a Gmapping algorithm according to the initial pose information and the real-time pose information; 3, detecting whether closed loop exists in the environment map or not, executing step 4 if so, and executing step 2 if not; and 4, afresh estimating the real-time pose information of the robot by adopting a state estimation algorithm, and updating the real-time pose information to generate a corrected map. The closed loop correction method for map creation based on a low-cost and low-precision laser sensor improves the map creation precision, and promotes the application of the low-cost laser sensor in daily life and scientific researches.

Description

technical field [0001] The invention belongs to the field of mobile robot navigation, and in particular relates to a method for realizing map creation and closed-loop correction based on low-cost and low-precision laser sensor data. Background technique [0002] With the development and progress of technology, mobile robots have gradually stepped out of the altar of scientific research, appearing more and more widely in all aspects of daily life, assisting or replacing humans to complete some tasks with high repetitiveness and low technical content, such as product Assembly, sweeping, etc. Sweeper is a typical application of mobile robots. [0003] At present, robots mainly perceive and build models of the external environment through sonar, laser or visual sensors to achieve "communication" with the outside world. Due to the large diffusion angle, there are significant errors in the environmental data acquired by the sonar sensor; on the one hand, the visual sensor has hig...

Claims

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Application Information

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IPC IPC(8): G01C21/00
CPCG01C21/00
Inventor 张小陈宗海王鹏章征贵
Owner 平邑经济开发区投资发展有限公司
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