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Method for increasing mapping speed based on Gmapping

A speed and parallel algorithm technology, applied in the re-radiation of electromagnetic waves, the use of re-radiation, calculation models, etc., can solve the problems of increased calculation and memory, reduced map building speed, and reduced laser frequency, etc., to achieve the goal of improving map building The effect of speed, simple logic, and high efficiency in map construction

Inactive Publication Date: 2020-12-11
成都睿芯行科技有限公司
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Problems solved by technology

[0002] Gmapping is currently the most widely used algorithm for building indoor maps in real time. Gmapping effectively uses the wheel odometer information, which can effectively reduce the laser frequency requirements and achieve a higher accuracy; however, as the scene becomes larger, In order to meet the requirements of mapping accuracy, a large number of particles must be increased, and each particle carries a piece of map information. Therefore, the amount of calculation and memory required for building a large map will increase greatly, which directly leads to a decrease in the speed of mapping.
[0003] In addition, the Chinese invention patent with the patent application number "202010515565.9" and the patent name "A Gmapping method for mobile robots based on sparse pose adjustment", although it mentions Gmapping, it solves the boundary of the map. The technical problems of blurring, missing and slipping; then, this technology needs to collect more particles, and finally, it also has the problem of decreasing the rate of construction

Method used

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  • Method for increasing mapping speed based on Gmapping
  • Method for increasing mapping speed based on Gmapping
  • Method for increasing mapping speed based on Gmapping

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Embodiment

[0034] Such as figure 1 As shown, this embodiment provides a method for improving the speed of mapping based on Gmapping, including the following steps:

[0035] In the first step, K parallel algorithm execution modules are arranged, and multiple parallel modules handle the calculation of the RBpf particle filter algorithm.

[0036] In the second step, the weight calculation platform for N particles in the laser matching algorithm is allocated to parallel modules, and each module allocates N / K particles.

[0037] In the third step, each parallel module runs the particle filter calculation function. The calculations performed include: particle pose optimization, calculation of particle weight, and expansion of the map saved by particles. Specifically:

[0038] Use a certain number of particles to fit the posterior distribution, each particle represents a pose hypothesis of the robot in the real environment, and the sampling particle set

[0039] Any particle is fine-tuned i...

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Abstract

The invention discloses a method for increasing the mapping speed based on Gmapping, and the method comprises the following steps: laying K parallel algorithm execution modules, and enabling N particles to be distributed to the K parallel algorithm execution modules through employing a laser matching algorithm; enabling any parallel algorithm execution module to adopt particle filtering calculation to optimize the particle pose, solving the weight of the particle after pose optimization, obtaining extended particles, and storing the extended particles on a map; and updating particle weight values. By means of the scheme, the method has the advantages of being simple in logic, high in mapping efficiency, accurate, reliable and the like, and has high practical value and popularization valuein the technical field of filtering SLAM algorithm mapping.

Description

technical field [0001] The invention relates to the technical field of filtering SLAM algorithm mapping, in particular to a method for improving the speed of mapping based on Gmapping. Background technique [0002] Gmapping is currently the most widely used algorithm for building indoor maps in real time. Gmapping effectively uses the wheel odometer information, which can effectively reduce the laser frequency requirements and achieve a higher accuracy; however, as the scene becomes larger, In order to meet the requirements of mapping accuracy, a large number of particles must be increased, and each particle carries a piece of map information. Therefore, the amount of calculation and memory required for building a large map will increase greatly, which directly leads to a decrease in the speed of mapping. . [0003] In addition, the Chinese invention patent with the patent application number "202010515565.9" and the patent name "A Gmapping method for mobile robots based on ...

Claims

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Application Information

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IPC IPC(8): G06N3/00G01C21/20G01S17/89
CPCG01C21/206G01S17/89G06N3/006
Inventor 周军万克波龙羽徐菱
Owner 成都睿芯行科技有限公司
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