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Map representation method for robot indoor autonomous navigation

A technology for autonomous navigation and robotics, applied in navigation, mapping and navigation, navigation calculation tools, etc., to achieve the effect of improving efficiency and path accuracy and reducing hardware costs

Inactive Publication Date: 2016-09-21
QINGDAO KRUND ROBOT CO LTD
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AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a map representation method for autonomous indoor navigation of robots to solve the problems in path search efficiency, hardware resource overhead and path accuracy of the map representation method for robot autonomous navigation in the prior art

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  • Map representation method for robot indoor autonomous navigation
  • Map representation method for robot indoor autonomous navigation
  • Map representation method for robot indoor autonomous navigation

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Embodiment Construction

[0023] Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but should not be used to limit the scope of the present invention.

[0024] Such as figure 1 As shown, the map representation method of the indoor group main navigation of the robot in this embodiment includes the following steps:

[0025] S1. When the robot is in an unfamiliar indoor environment, according to SLAM or other methods, the grid map of the indoor space is obtained, and the grid map of the indoor space is used as the prior map of the robot's autonomous navigation. The indoor space is divided into multiple indoor area.

[0026] S2. Set a plurality of navigation landmarks in the process of initializing the map, the data of the navigation landmarks includes the number representing the position coordinates of the navigation landmarks in the global map coo...

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Abstract

The present invention relates to the technical field of robot autonomous navigation, and specifically discloses a map representation method for robot indoor autonomous navigation, which includes using the grid map of the indoor space as a priori map, and the indoor space is divided into multiple indoor areas. During the process, multiple navigation landmarks are set. The data of the navigation landmarks include position coordinates and indoor area numbers. The grid map, combined with the robot's perception data, finds the navigation landmarks in the same indoor area as the robot's starting position and target position. Based on the topological relationship of each navigation landmark, the robot plans a most reasonable path to complete autonomous navigation. The invention solves the problems in the path search efficiency, hardware resource overhead and path accuracy of the map representation method for robot autonomous navigation in the prior art.

Description

technical field [0001] The invention relates to the technical field of robot autonomous navigation, in particular to a map representation method for robot indoor autonomous navigation. Background technique [0002] Since Stanford Research Institute developed the world's first autonomous mobile robot named Shakey in the late 1960s, mobile robots have not only been limited to the field of industrial manufacturing, but also in many fields such as military, civilian and scientific research. At the same time, the application environment of robots has also undergone great changes, from purely indoor environments to aviation, underground, underwater and ground and many other places. [0003] In recent years, with the further development of artificial intelligence technology, the application of mobile robots has become more and more extensive, and autonomous mobile robots have increasingly become a research hotspot in the scientific and technological circles. The navigation problem ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/00G01C21/206
Inventor 王运志
Owner QINGDAO KRUND ROBOT CO LTD
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