Construction method for mixed map for navigation of mobile robots

A mobile robot and construction method technology, applied in the field of hybrid map construction, can solve the problems of difficult management and maintenance of technology, and difficulty in having reliability, adaptability and scalability at the same time, and achieve easy management and maintenance, achieve reliability, The effect of reliable navigation information

Active Publication Date: 2016-01-06
SHANTOU UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a method for constructing a hybrid map for mobile robot navigation, so as to solve the problems that the existing technology is difficult to manage and maintain, and it is difficult to have reliability, adaptability and scalability at the same time

Method used

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  • Construction method for mixed map for navigation of mobile robots
  • Construction method for mixed map for navigation of mobile robots
  • Construction method for mixed map for navigation of mobile robots

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Embodiment Construction

[0017] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0018] The embodiment utilizes the present invention to construct a hybrid map for an indoor environment, such as figure 1 shown, including the following steps:

[0019] 1. According to the shape characteristics of the entire area, it is divided into several local areas. Each local area must overlap with one or more local areas adjacent to it to ensure the connectivity of the topological structure; the environment of the overlapping area It should remain relatively static to ensure that the data collected by the mobile robot does not change significantly when it repeatedly visits the overlapping area;

[0020] 2. Add visual marks on the ceiling in each overlapping area, and these visual marks correspond to specific nodes in the topological map;

[0021] 3. The mobile robot platform is equipped with a laser rangefinder and a camera, and the mobile robo...

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Abstract

The invention relates to a construction method for a mixed map for the navigation of mobile robots. A whole area is divided into a plurality of local areas, and each local area has an overlapping area with one or more adjacent local areas thereof, visual marks are added in each overlapping area, the mobile robots respectively move in each local area and acquire data of all points in each local area; an occupied grid map principle is employed to have acquired data in each local area generate corresponding local measuring maps; a note is added on each local measuring map, the note comprises a switch node, and the switch nodes correspond to the visual marks of the overlapping areas; and same switch nodes of different local measuring maps are connected, and the topology structure of whole area is formed. According to the method, the reliability of the mixed map can be realized, management and maintenance of the maps can be facilitated, the adaptability and expansibility are realized, and reliable navigation information can be provided for the mobile robots.

Description

technical field [0001] The invention relates to the field of map construction, in particular to a method for constructing a hybrid map for mobile robot navigation. Background technique [0002] Map-based navigation has been a very active research area since the early days of mobile robotics research. In order to ensure that mobile robots can be widely used in real life, the constructed map needs to meet three basic elements: reliability, adaptability and scalability. Several types of maps are currently used for robot navigation, and they can be categorized as: metric maps, topological maps, appearance-based maps, and semantic maps. They all have their own advantages and disadvantages. Single or simple mixed use of them is difficult to manage and maintain, and it is difficult to have reliability, adaptability and scalability at the same time. [0003] Among them, the metric map represents the environment based on the actual size of objects in the environment. The occupancy ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G09B29/00
CPCG09B29/005
Inventor 范衠谢红辉余泽峰容毅标李文姬林惠标
Owner SHANTOU UNIV
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