Robot autonomous mapping method in strange environment

A robot and environmental technology, applied in the direction of instruments, electromagnetic wave re-radiation, navigation, etc., can solve the problems of consuming more and more computing resources and low exploration efficiency, and achieve the effect of reducing the amount of data processing, improving the speed and improving the efficiency.

Active Publication Date: 2020-09-08
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
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AI Technical Summary

Problems solved by technology

The current traditional frontier exploration algorithm is frontier detection and region extraction based on digital image processing technology, in order to extract the frontier, the entire map must be processed, and as the map expands, processing it will consume more and more computing resources
And the selection of the frontier is mostly the random method or the nearest method, resulting in low exploration efficiency

Method used

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  • Robot autonomous mapping method in strange environment
  • Robot autonomous mapping method in strange environment
  • Robot autonomous mapping method in strange environment

Examples

Experimental program
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Effect test

Embodiment 1

[0041] The flow chart of a method for robot autonomous mapping in an unfamiliar environment is shown in figure 1 As shown, the steps include:

[0042] S1, taking the position of the robot as the reference point, according to the random tree algorithm through the wall, generate all the frontier points between the known area and the unknown area.

[0043] This method uses the open source SLAM algorithm Gmapping based on the filtering SLAM framework to construct a 2D grid map, and the known area and the unknown area are divided according to the 2D grid map. In a raster map, a raster cell has three states: free, occupied (i.e. obstacles are present) and unknown. The frontier point in the grid map is defined as the boundary between free and unknown grids, and the present invention subsequently uses the wall-through random tree algorithm to generate frontier points on the map, which is also realized based on the grid map. For closed environments, the wall-penetrating random tree a...

Embodiment 2

[0065] By adopting the method of the invention, the construction of the map of the unknown area by the robot has been realized. The experimental site is in a free space of 8m×8m, which is simply arranged in cardboard boxes as follows: image 3 venue shown. The robot used in the experiment is a two-wheel differential robot with a size of 85cm×75cm. The experimental robot is shown in the figure Figure 4 . It is equipped with Leishen lidar, the angle is 180 degrees, and the measurement radius is 8m. The picture of the lidar is as follows Figure 5 shown.

[0066] The lidar uses USB to serial port to transfer data to the mini-PC, and runs the underlying driver "leishen_lidar_node" node of the lidar to realize the reading and correction of the original data of the lidar, and convert the corrected lidar data into a standard LaserScan format under ROS and issued as a Topic named / uestc003 / scan. Then subscribe and build the map through the / uestc003 / slam_gmapping node, and the / ...

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Abstract

The invention discloses a robot autonomous mapping method in a strange environment in the field of robot autonomous exploration. The method comprises the following steps: S1, generating leading edge points between a known region and an unknown region according to a through-wall random tree algorithm, and carrying out the clustering optimization of the leading edge points to obtain preliminarily screened leading edge points; S2, evaluating the preliminarily screened leading edge points to obtain a leading edge target point; S3, moving the robot towards the leading edge target point; and S4, when a distance between the current position of the robot and the previous position is greater than a preset movement radius or the advancing distance is greater than a preset step length, judging whether an unknown region exists or not, if so, returning to the S1, and if not, stopping advancing to finish map drawing. Compared with an existing random tree exploration strategy, the method has the advantages that the growth conditions of the random tree are expanded, the refreshing frequency is set, and leading edge points near the robot can be explored more quickly.

Description

technical field [0001] The invention relates to the field of autonomous exploration of robots, in particular to a method for autonomous mapping of robots in unfamiliar environments. Background technique [0002] The main goal of autonomous robot exploration is to enable the robot to acquire the most complete and accurate map of the environment in a limited time without human intervention. The current mainstream method is to explore based on the frontier (that is, the boundary between the unexplored space and the known space). The idea of ​​the frontier-based exploration strategy is to guide the robot to the unknown area to complete the exploration task. The current traditional frontier exploration algorithm is based on digital image processing technology for frontier detection and region extraction. In order to extract the frontier, the entire map must be processed, and as the map expands, processing it will consume more and more computing resources. Moreover, the selection...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/89G01C21/00
CPCG01S17/89G01C21/00
Inventor 骆德渊孟祥天康晓龙叶翠兰
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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