Simplified generalized Voronoi diagram-based robot autonomous exploration method

A robot, a generalized technology, applied in the field of automation, can solve problems such as waste of computing time, collision of mobile robots, lack of environmental information, etc., and achieve the effect of reducing the amount of computing and reducing the number

Active Publication Date: 2020-01-17
WUHAN UNIV
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Problems solved by technology

First, the number of candidate frontier points generated is large, and there is considerable redundancy, and it will waste a lot of computing time to calculate and compare their features; second, the path finding algorithm on the grid map is difficult to meet the real-time requirements, and Paths are often close to walls, creating a collision risk for mobile robot

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  • Simplified generalized Voronoi diagram-based robot autonomous exploration method
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  • Simplified generalized Voronoi diagram-based robot autonomous exploration method

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[0053] The embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0054] This embodiment provides a mobile robot autonomous exploration method suitable for indoor scenes, which generates a topology map from an occupation probability grid map, and combines the respective advantages of the two environmental maps to design and implement the mobile robot indoor autonomous exploration method. This embodiment is implemented through the following technical solutions, constructing a simplified generalized Voronoi topology map based on morphological methods, finding the best frontier point, and planning the global path from the current position of the robot to the best frontier point, along the global path R={r 0 , R 1 , R 2 ,..., p NBV } Navigate the robot to the best frontier point. Such as figure 1 Shown. This method makes full use of the characteristics of simplified generalized Voronoi diagram and applies it to the in...

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Abstract

The invention belongs to automation technologies, and specifically relates to a simplified generalized Voronoi diagram-based robot autonomous exploration method. The method includes the following steps: constructing a simplified generalized Voronoi topology map based on a morphological method, finding an optimal cutting-edge point, planning a global path from a current position of a robot to the optimal cutting-edge point, and navigating the robot to the optimal cutting-edge point along the global path. The method makes full use of a feature of the simplified generalized Voronoi diagram, applies the simplified generalized Voronoi diagram to an indoor autonomous exploration task of the mobile robot, and converts an autonomous exploration problem from two-dimensional plane space to topologymap space, thereby greatly reducing a quantity of cutting-edge candidate points, reducing a calculation amount of path planning, and in addition, ensuring that the generated global path is an optimalcollision-free path. Compared with another method, the invention can faster guide the indoor robot to autonomous exploration, the simplified generalized Voronoi diagram is more flexible in a specificapplication, and therefore, a requirement for the autonomous exploration task of the mobile robot can be better met.

Description

technical field [0001] The invention belongs to the technical field of automation, in particular to a robot autonomous exploration method based on a simplified generalized Voronoi diagram. Background technique [0002] Due to the complexity and structural characteristics of indoor spaces, mobile robots can be widely used in tasks related to architectural surveying (such as indoor mapping and mapping and indoor search and rescue), so autonomous exploration and movement in unknown spaces is a research hotspot in robotics. one. Autonomous exploration technology can guide the robot to move in an unknown environment and use various sensors to perceive unknown things in the environment, so as to complete a given specific task. According to the existing research, the autonomous exploration technology of mobile robots mainly has difficulties in the following four aspects: (I) how to model the environment; (II) how to decide where the robot should go; (III) how to find connections i...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0253G05D1/0257G05D1/0214G05D1/0221G05D1/0276G05D1/0274
Inventor 李霖左辛凯朱海红应申杨帆苏飞梁一帆周刚
Owner WUHAN UNIV
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