Method for constructing multi-mode environmental map in three-dimensional environment

A technology of environmental maps and construction methods, applied in structured data retrieval, geographic information databases, instruments, etc., can solve the problems of insufficient compactness of expression, complex calculation of mixed maps, and occupation of memory resources, etc., and achieve the effect of easy expression
CN106599108AActive Publication Date: 2017-04-26ZHEJIANG UNIV
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Patent Information

Authority / Receiving Office
CN ยท China
Current Assignee / Owner
ZHEJIANG UNIV
Publication Date
2017-04-26

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Abstract

Disclosed is a method for constructing a multi-mode environmental map in a three-dimensional environment. An unmanned vehicle is operated for many times in a mapping pattern, and different key frame coordinate sequences are obtained during each operation. Geographical proximity between different key frame coordinates is calculated on the basis of a Euclidean distance so as to identify cross joints of key frame sequences during different operations, these cross joints serve as nodes of a topological map, and multiple trajectories are connected together to form a whole map. By executing route planning based on a heuristic map search algorithm on the topological map, a route cross joint sequence can be obtained, original dense key frame coordinates can be obtained by indexing through the route cross joint sequence, and these coordinates serving as trajectory planning results are input to an unmanned vehicle control execution system, so as to realize position tracking of the unmanned vehicle.
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Description

technical field

[0001] The invention belongs to the technical field of autonomous navigation of mobile robots, in particular to a multi-modal environment map construction method for a three-dimensional environment. Background technique

[0002] Map construction technology is the core function of the mobile robot navigation system. Map construction is for subsequent reuse. If only a single job is performed, the significance of map construction is not obvious. A map is a description of the environment and a modeling behavior, and its significance is to provide the necessary description for the robot's behavioral decision-making. Traditional map forms include metric maps, topological maps and hybrid maps. Metric maps can be accurately used for navigation, but the expression is not compact enough, which will occupy a large amount of memory resources of the computer system. Topological maps are simple in form and easy to store, but they are not enough for navigation. The calcul...

Claims

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