Autonomous exploration and obstacle avoidance method based on adaptive frontier exploration target point selection

Abstract

The invention relates to an autonomous exploration and obstacle avoidance method based on adaptive frontier exploration target point selection, which comprises the steps of firstly explaining a principle of travelable area selection through information scanned by a laser scanner; secondly, selecting an exploration threshold adapting to the position and posture of a robot at the current moment based on a principle of adaptive frontier exploration target point selection, selecting an optimal exploration target point according to the exploration threshold and an evaluation function, fitting the moving trajectory of a dynamic obstacle by adopting a least squares method in consideration of a circumstance of possible appearance of the dynamic obstacle in the process that the robot moves to the exploration target point, judging the relative relationship between the robot and the obstacle, then selecting an effective exploration target point according to the principle of adaptive frontier exploration target point selection; and finally effectively avoiding the possibility of repeated exploration and missed exploration through querying a data set of the exploration target point so as to ensure the integrity of an exploration map. The autonomous exploration and obstacle avoidance method not only can meet the accuracy and real-time performance requirements in practical application, but also is low in cost.

Description

Technical field [0001] The invention is applied to the field of simultaneous positioning and map construction of mobile robots, and relates to the problem of autonomous exploration by mobile robots, especially when there are obstacles and narrow aisles in the scene, the problems of how to select feasible areas and how to select exploration target points are realized. An effective method of autonomous exploration. Background technique [0002] The present invention mainly considers how the mobile robot uses a laser scanner to effectively perform autonomous exploration and scene map construction while avoiding static obstacles and dynamic obstacles. The main independent exploration methods include the method of judging the feasible area, the method of selecting the exploration target point and the method of avoiding collision with dynamic obstacles. Although the use of laser scanners to build scene maps is very mature, the technology for robots to explore autonomously and build sc...

AI Technical Summary

Problems solved by technology

The information scanned by the laser sensor can effectively identify the current environment information, so as to obtain local sub-targets and effective travel routes. However, the traditional autonomous exploration method is based on the frontier breakpoint information, and the robot cannot effectively bypass when encountering obstacles. Obstacles, as well as the problem of ignoring some narrow passages and repeated exploration, lead to incomplete and time-consuming problems in the scene map constructed by the robot, and when there are dynamic obstacles in the process of exploring the target point, it is easy to Collision

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