Method for constructing three-dimensional map by mobile robot in unknown environment

A mobile robot, three-dimensional map technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve the problem of not considering the overall coverage exploration of guiding mobile robots, and it is difficult to achieve rapid exploration and map construction in three-dimensional environment, etc. problems to ensure completeness

Active Publication Date: 2019-02-15
NANKAI UNIV
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Problems solved by technology

[0005] Summarizing the above literature, the existing autonomous exploration and 3D map construction methods either do not accurately model the decision-making model based on information gain and propose an appropriate way to calculate the information gain, or ignore the dynamic update of map informatio

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  • Method for constructing three-dimensional map by mobile robot in unknown environment
  • Method for constructing three-dimensional map by mobile robot in unknown environment
  • Method for constructing three-dimensional map by mobile robot in unknown environment

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Embodiment 1

[0066] 1. System framework for autonomous exploration and 3D map construction

[0067] The present invention uses the Pioneer3DX mobile robot experiment platform equipped with a 2D Hokuyo UTM-30LX two-dimensional laser sensor and a Microsoft Kinect2.0 three-dimensional RGBD sensor. figure 2 . Kinect2.0 sensor field of view [a] v ,a h ]=[70°,60°], effective sensing distance range [d min , d max ]=[0.1m, 4.5m]. The computing platform is a MSI notebook equipped with 16GB RAM and Intel Core i7 multi-core processor, and Ubuntu 16.04 system and ROSkinetic robot operating system are installed. The proposed method is written in C / C++.

[0068] The present invention carries out independent exploration and three-dimensional map construction experiments in an indoor unknown laboratory environment. The plane area is length × width = 12.5m × 7.8m, and the Kinect2.0 camera is installed on the fixed height plane h of the robot body c = 0.8m above (see figure 2 ), the camera beam can...

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Abstract

The invention discloses a method for constructing a three-dimensional (3D) map by a mobile robot in an unknown environment, and proposes a multi-exploration strategy method combining information gainguided local exploration strategy and global boundary exploration strategy for a problem of constructing a map of an indoor unknown 3D environment. The method comprises the following steps: firstly, constructing an autonomous exploration and 3D map construction system framework of the mobile robot, which comprises a map construction module and an exploration decision planning control module; secondly, establishing an information gain guided decision model based on a Shannon information theory and designing an information gain objective function calculation applied to multi-step exploration action evaluation; and finally, constructing a local exploration strategy by using an offline local motion trajectory, realizing a multi-strategy exploration method by combining with the information gainguided global boundary exploration strategy, and dynamically switching the two strategies during exploration according to real-time construction situations of the 3D map. Experimental results show that the method provided by the invention ensures integrity of map construction while rapidly constructing the 3D map.

Description

technical field [0001] The invention belongs to the technical field of autonomous exploration and map construction in an unknown environment, and in particular relates to a three-dimensional map construction method for a mobile robot in an unknown three-dimensional environment. Background technique [0002] In an unknown environment, in order to complete various complex tasks such as autonomous navigation and scene reconstruction, a mobile robot must independently explore the unknown environment and select an appropriate map expression form for map construction, such as grid maps, point cloud maps, and topological maps. . Researchers have proposed a variety of exploration strategies, mainly based on geometric boundaries and information theory. Yamauchi proposed a geometric boundary-based autonomous exploration and two-dimensional grid map construction method, which defines the adjacent part of the explored area and the unknown area as the boundary area, and uses a depth-fir...

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Application Information

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IPC IPC(8): G01C21/32G05D1/02
CPCG05D1/0231G05D1/0238G05D1/024G05D1/0246G01C21/32
Inventor 丁杰方勇纯
Owner NANKAI UNIV
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