Mobile robot environment map construction method and system and storage medium

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.

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...

AI Technical Summary

Problems solved by technology

However, the real environment is mostly unknown and complex, and it is difficult for humans to obtain the map knowledge of the environment in advance, so it is necessary for mobile robots to be able to autonomously build maps in unknown environments

The existing boundary-based exploration technology uses a depth-first search algorithm to select the boundary point closest to the robot each time, so that the exploration of the environmental space is slow, and the relationship between income and cost is not balanced, and the problem of redundant coverage will occur.

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