Method for collaborative mapping and locating of multiple robots for large-scale environment

A multi-robot and robot technology, applied in the field of robot perception, to achieve the effect of eliminating accumulated motion errors

Inactive Publication Date: 2017-01-04
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The focus of this invention is to improve the efficiency of multi-robot map detection, and does not involve how to use multi-sensor fusion to realize the creation of robot environment maps and robot positioning algorithms

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  • Method for collaborative mapping and locating of multiple robots for large-scale environment
  • Method for collaborative mapping and locating of multiple robots for large-scale environment
  • Method for collaborative mapping and locating of multiple robots for large-scale environment

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Embodiment Construction

[0027] specific implementation plan

[0028] The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0029] The present invention is aimed at large-scale environment (500m 2 The map creation and positioning problem of the above) aims to improve the efficiency and robustness of robot synchronous positioning and mapping, and realize accurate positioning and fast large-area mapping. The present invention consists of a single robot laser SLAM based on visual detection closed-loop Algorithm, multi-robot pose constraint estimation algorithm and multi-robot map fusion algorithm.

[0030] A. Vision-based single-robot laser SLAM algorithm

[0031] The present invention constructs as attached figure 1 The system shown is used to implement the vision-based single-robot laser SLAM method. The general idea is as follows:

[0032] The present invention divides the SLAM process into two parts: the front...

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Abstract

The invention provides a method for collaborative mapping and locating of multiple robots for a large-scale environment. The method comprises a single-robot laser SLAM algorithm based on a visual detection closed loop, a multi-robot pose constraint estimation algorithm and a multi-robot map fusion algorithm, wherein according to the single-robot laser SLAM algorithm based on the visual detection closed loop, a visual sensor is adopted for assisting a laser sensor in achieving the SLAM algorithm with the more stable roughness. Simultaneous locating and mapping of the multiple robots are achieved through the laser sensor and the visual sensor. The closed loop is detected by obtaining the visual characteristic of the roughness through a camera, and the problem about closed loop detection caused by the robot motion accelerative error is solved effectively; meanwhile through a multi-robot system, simultaneous locating and mapping in the large regional environment are completed efficiently, and the defect that the efficiency is low by means of a single robot is overcome. By the adoption of the method, the precise robot location and map creation of the environment are achieved in the large-scale environment, and the method is also suitable for small-scale environments.

Description

technical field [0001] The invention relates to the technical field of robot perception, in particular to a multi-robot collaborative mapping and positioning method. Background technique [0002] In recent years, with the deepening of robot applications, robot environment perception and positioning technology, especially synchronous positioning and mapping technology in large-scale environments, has become an important bottleneck in the development of robot technology, so it has become an important issue that major companies and research institutions are vying to solve. question. Because in many large-scale environments, a single robot is inefficient and has a small amount of tasks, which cannot meet the actual needs. Therefore, it is not enough to use a single robot to obtain a map of a large-scale environment, and multi-robots emerge as the times require. Compared with other distributed systems, multi-robot systems are more complex because they face unpredictable and dyna...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1697
Inventor 陈浩耀秦野李衍杰楼云江李兵刘云辉
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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