Robot autonomous exploration mapping method, equipment and storage medium

Abstract

The invention provides a robot autonomous exploration mapping method, equipment and a storage medium. The method comprises the steps: acquiring environment data collected by a sensor, building an SLAMalgorithm through employing synchronous positioning and a map, and recognizing a to-be-accessed region on a currently estimated SLAM initial environment map; for the identified access area, performing path planning based on an active exploration mode, selecting an exploration path from planned paths according to a principle of highest utility, and executing a path exploration operation; establishing an environment map corresponding to autonomous exploration according to a path exploration result. Therefore, the moving path can be selected through autonomous exploration of the robot and the environment map is established, thereby reducing the positioning uncertainty caused by purely utilizing the SLAM algorithm, improving the construction quality and the construction efficiency of the environment map, and thus enhancing the autonomy of the robot.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method, device and storage medium for autonomous exploration and mapping of robots. Background technique [0002] Autonomous exploration of unknown areas is the basic function of mobile robots. In environments lacking global positioning references (such as global positioning system GPS, ultra-wideband UWB positioning technology), such as indoor environments, mobile robots need to simultaneously construct the environment. Map and positioning in the map, the above process is usually called SLAM (Simultaneous Localization And Mapping, simultaneous positioning and map construction). Using the SLAM algorithm, it is mainly used to solve the problems of map construction and positioning and navigation of moving objects. The traditional SLAM algorithm does not consider the trajectory of the robot. The usual situation is: the user sends control commands to control the movement of the mobile robot ...

AI Technical Summary

Problems solved by technology

The traditional SLAM algorithm does not consider the trajectory of the robot. The usual situation is: the user sends control commands to control the movement of the mobile robot in an unknown environment; the mobile robot uses the SLAM algorithm to map the environment and estimate its own position; this scheme Reduce the autonomy of the robot, and it is difficult to judge the quality of the construction map

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