Mobile robot environment map construction method and system and storage medium

A mobile robot, environmental map technology, applied in control/regulation systems, radio wave measurement systems, instruments, etc., can solve the problems of redundant coverage, slow environmental space, and no balance between benefits and costs, and achieves a reduction in redundant coverage. Effect

CN112033410AInactive Publication Date: 2020-12-04CENT SOUTH UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2020-12-04
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a mobile robot environment map construction method and system and a storage medium, belongs to the technical field of mobile robot autonomous map construction, and relates to the autonomy problem of robot map construction. A mobile robot autonomous mapping method combining a reinforcement learning method and a boundary-based exploration method item is designed, a mobile robot obtains environment information through a laser radar carried by the mobile robot, and then all boundary points in the current environment are found through the boundary-based exploration method. And then an optimal boundary point is selected based on the expected income of the mobile robot at the boundary point and the cost of the robot moving to the boundary point, and the robot moves to theboundary point through obstacle avoidance navigation by using a reinforcement learning method to obtain a reward signal. The autonomous performance of robot map construction enables the robot to adaptto more complex and strange environments.
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Description

technical field

[0001] The invention belongs to the technical field of mobile robot autonomous map construction, in particular to a mobile robot environment map construction method, system and storage medium. Background technique

[0002] In recent years, from home services to disaster relief and reconnaissance to alien exploration missions, the development of robots has greatly facilitated human life, industrial manufacturing, scientific research and military activities. The basic element for a mobile robot to successfully complete a specific task is accurate perception of the environment, which includes building a complete and accurate map. Traditional mapping research focuses on map representation, map fusion, and efficient map storage methods, but pays little attention to the autonomy of robotic mapping. Environmental maps are often collected and constructed by remote-controlled robot movement or by letting the robot move randomly in the environment. Some robots with a...

Examples

Embodiment Construction

[0034] The purpose of the present invention is to provide a method for a mobile robot to use deep reinforcement learning to build a map autonomously in an unknown environment, such as figure 2As shown, it obtains perception data from the environment through its own lidar sensor, and then constructs a two-dimensional grid map of the environment from the known sensor data, and uses a boundary-based method to detect the gap between free space and unexplored space. The boundary point, and then select an optimal boundary point from all the current boundary points based on the income and cost. The optimal boundary point is the target position of the robot's movement, and then use the deep reinforcement learning method to control the robot to realize the autonomous obstacle avoidance of the mobile robot The navigation moves to the boundary point, obtains new environmental information, and performs a new round of mapping. This process is repeated until there are no boundary points in...