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3D exploration method based on wavefront algorithm

An algorithm and wavefront technology, applied in the field of 3D exploration based on wavefront algorithm, can solve problems such as low efficiency of boundary points

Pending Publication Date: 2020-01-21
SUZHOU UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, when the structure of the environment is complex, for example, there are many corners in the environment, the random search method may lead to low efficiency in searching for boundary points

Method used

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  • 3D exploration method based on wavefront algorithm
  • 3D exploration method based on wavefront algorithm
  • 3D exploration method based on wavefront algorithm

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Embodiment 1

[0040] In order to achieve the purpose of the present invention, as figure 1 As shown, in one of the embodiments of the present invention, a method for 3D exploration based on wavefront algorithm is provided, including the following steps:

[0041] Step 1. Collect the data of the current environment map, and stitch each frame of data collected;

[0042] Wherein, the current environment is a three-dimensional space, and the map is a three-dimensional octomap map. In the step 1, a depth camera sensor is selected to obtain the current environment information, and the map is obtained by splicing data of each frame of the camera.

[0043] Specifically, such as figure 2 As shown, it is the octomap map obtained by splicing each frame of data acquired by the depth camera sensor. When constructing the map, the method of filling points has been used. When stitching the map, the pose information of the mobile robot is obtained from the odometer carried by itself.

[0044] Step 2, pe...

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Abstract

The invention discloses a 3D exploration method based on a wavefront algorithm. The 3D exploration method includes the following steps that step 1, data of a current environment map is collected, andeach frame of the collected data is stitched; step 2, a map obtained after stitching is subjected to obstacle expansion; step 3, boundary points are found by using the process of spreading around in the wavefront algorithm; step 4, the optimal boundary point is selected according to a set boundary point selection function; step 5, a path planning method based on the wavefront algorithm is adoptedto plan a path from the current position of a mobile robot to the boundary point; and step 6, whether boundary points further exist in the map or not is determined, if yes, the step 1 is repeated to continue the exploration, and otherwise, the exploration process is finished. According to the 3D exploration method, the problems of 3D exploration and mapping of the mobile robot can be solved.

Description

technical field [0001] The invention belongs to the field of autonomous exploration and mapping of mobile robots, and in particular relates to a 3D exploration method based on a wavefront algorithm. Background technique [0002] Autonomous mobile robot exploration is an important part of the functionality of intelligent mobile robots. When a mobile robot performs tasks in an unknown environment, it first needs to model the surrounding environment. However, in the past, mobile robots completed the task of mapping first under the control of people. Autonomous exploration and mapping emphasizes that mobile robots complete the mapping task without human intervention. In the face of dangerous environments or environments that other people cannot reach, mobile robots can give full play to the advantages of autonomous mapping, which greatly improves the efficiency of mobile robots in performing tasks. Therefore, autonomous exploration and mapping is the key to improving mobile i...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0251G05D1/0223G05D1/0214G05D1/0221G05D1/0276
Inventor 孙荣川唐春华郁树梅陈国栋任子武
Owner SUZHOU UNIV
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