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Mobile robot rolling grid map construction method

A mobile robot and construction method technology, applied in the field of mobile robot rolling grid map construction, to achieve the effects of saving storage space, reducing the amount of calculation, and improving interactivity

Active Publication Date: 2018-10-26
BEIJING MECHANICAL EQUIP INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the above analysis, the present invention aims to provide a mobile robot rolling grid map construction method to solve the problem of real-time map construction with both map accuracy and map construction cost when the mobile robot is moving in an unknown large-scale obstacle environment

Method used

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  • Mobile robot rolling grid map construction method
  • Mobile robot rolling grid map construction method
  • Mobile robot rolling grid map construction method

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Embodiment Construction

[0042] Preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principle of the present invention.

[0043] This embodiment discloses a mobile robot rolling grid map (RGM) construction method, such as figure 1 As shown, the construction method includes the following steps:

[0044] Step S1, determine the size of the RGM window, and initialize the RGM when the mobile robot starts to work;

[0045] The RGM records details of the local environment within the current working range of the mobile robot. RGM is a rectangular area composed of grids, and the grid status is constantly updated following the movement of the mobile robot. Grids are the basic elements of RGM.

[0046] In this embodiment, the RGM adopts an intermittent movement mode, and the RGM d...

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Abstract

The invention relates to a mobile robot rolling grid map construction method. An RGM adopts an intermittent moving mode. The construction method specifically includes the steps of determining the sizeof the RGM, and initializing the RGM when a mobile robot starts working; within two adjacent moving time periods of the RGM, updating the grid occupancy probability in an RGM grid map; judging whether or not the RGM position satisfies intermittent movement conditions, updating the grid position and the grid occupancy probability when the RGM moves if yes, and otherwise, updating the grid occupancy probability in the grid map. The method has the advantages of an unchanged topological structure and intermittent movement. By detecting and updating the state of the surrounding environment, high-precision environmental information can be provided for the mobile robot in real time in an unknown large-scale obstacle environment, and the interactivity between the mobile robot and the environmentis improved; compared with a local map, the grid map has the advantages of having higher information integrity and accuracy; compared with a global map, the grid map has the advantages of saving the storage space of the map and reducing the calculation amount of information processing.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for constructing a rolling grid map of a mobile robot. Background technique [0002] Grid map is a commonly used environment map construction technology for mobile robots. The grid map discretizes the workspace into grids of equal size, and each grid records environmental information. [0003] Grid maps can be divided into local maps and global maps. The local map is updated with the robot's motion cycle, and the real-time performance is good, but its position moves frequently, and the window range is generally the current detection range of the sensor. The window range is small, the storage environment information is limited, and the map accuracy is low, which is not conducive to movement. Robot path planning and collision avoidance decisions. [0004] Globally Figure 1 It is generally suitable for indoor or other small-scale environment map construction. During the m...

Claims

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Application Information

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IPC IPC(8): G01C21/32
CPCG01C21/32
Inventor 赵玉飞崔松任博
Owner BEIJING MECHANICAL EQUIP INST
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