Multi-robot positioning and mapping system and method

A multi-robot and robot technology, applied in the field of safety rescue, can solve the problems of slow rescue efficiency, poor traffic, and failure of mobile robots, and achieve the effects of reliable map quality, improved efficiency, and comprehensive data.

Inactive Publication Date: 2019-03-19
SHANGHAI INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, in the complex scene of post-disaster rescue, due to environmental factors such as complex geographical environment, many obstacles, and poor traffic, the rescue efficiency of mobile robots is slow, and the possibility of failure is greatly increased.

Method used

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  • Multi-robot positioning and mapping system and method
  • Multi-robot positioning and mapping system and method
  • Multi-robot positioning and mapping system and method

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Embodiment Construction

[0038] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0039] figure 1 The functional block diagram of the multi-robot positioning and mapping system provided for the implementation of the present invention, such as figure 1 As shown, the data information is collected by sensors such as laser radar, kinetic vision sensor, inertial navigation module IMU, collision detector and GPS, and the robot is controlled after being processed by the PC. Use the odometer to detect the position and posture information of the robot, realize closed-loop control, and have a...

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Abstract

The invention provides a multi-robot positioning and mapping system and a multi-robot positioning and mapping method, which are applied to post-disaster rescue and acquire data information through a composite sensor of a robot, the data information includes depth information, IMU information, speedometer information and positioning information, the environment of a post-disaster rescue scene can be reflected in a detailed and three-dimensional manner; a gmapping algorithm based on Rao-Blackwellized particle filtering algorithm for robot positioning and mapping, the efficiency of mapping is high. A*algorithm is adopted to carry out global path planning, and a dynamic window algorithm is adopted to carry out real-time path planning, so that accurate and rapid navigation capability is achieved; Movelt is adopted to control a mechanical arm, so that the obstacles on the path are eliminated, and the capability of the robot to cope with the complex post-disaster rescue scene is improved; andthe two or more robots form a robot group, the unified allocation of the upper computer is received, a local grid map is fused into a complete map, and the positioning and mapping efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of safety rescue, in particular to a multi-robot positioning and mapping system and method. Background technique [0002] In recent years, with the development of artificial intelligence technology, the application environment of mobile robots has become more extensive. Among them, the popular simultaneous positioning and mapping (slam) technology of mobile robots can effectively improve the ability of robots to complete tasks autonomously. [0003] However, in the complex scene of post-disaster rescue, due to environmental factors such as complex geographical environment, many obstacles, and poor traffic, the rescue efficiency of mobile robots is slow, and the possibility of failure is greatly increased. Contents of the invention [0004] In view of the defects in the prior art, the object of the present invention is to provide a multi-robot positioning and mapping system and method. [0005] In the firs...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01C21/00G01C21/16G01C21/20G01S17/02G01S19/42
CPCG01C21/005G01C21/165G01C21/20G01S19/42G05D1/0221G05D1/0257G05D1/0278G05D1/0289G05D2201/0209G01S17/86
Inventor 赵怀林吴正
Owner SHANGHAI INST OF TECH
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