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Robot navigation map optimization method and system

A navigation map and optimization method technology, applied in navigation, surveying and mapping and navigation, road network navigator, etc., can solve problems such as left and right swings, affecting robot effects, etc., to improve safety, save manpower and material resources, and reduce calculations. the effect of time

Pending Publication Date: 2021-09-07
山东新一代信息产业技术研究院有限公司
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Problems solved by technology

However, when existing robots use move_base to navigate, they need to first generate a positioning map based on the SLAM algorithm, and then convert and generate a navigation map. At this time, the quality of the navigation map is closely related to the map created by SLAM. Restrictions can easily lead to some dirty data on the navigation map that should not appear in the navigation map, such as people standing when building the map, temporarily placed tables and chairs, etc., which greatly affects the effect of the robot's autonomous navigation, causing the robot to It is prone to phenomena such as not walking in a straight line, swaying from side to side, etc., which affects the practical application

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  • Robot navigation map optimization method and system

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Embodiment Construction

[0024] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

[0025] The invention provides a robot navigation map optimization method. According to the SLAM map, the navigation map is used to perform coordinate conversion according to the resolution, wherein the coordinate origin of the SLAM map is selected, a rectangular coordinate system is established, and the pixel position of the corresponding coordinate origin on the navigation map is changed to change the navigation map. The pixel position of corresponding to modify the SLAM map data,

[0026] And according to the data setting required by the driving, the customized map and driving route are planned by modifying the pixel data of the navigation map.

[0027] The present invention foc...

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Abstract

The invention discloses a robot navigation map optimization method and system, and relates to the technical field of automatic driving. According to a SLAM map, coordinate conversion is carried out by utilizing a navigation map according to resolution, wherein the coordinate origin of the SLAM map is selected, a rectangular coordinate system is established, in correspondence to the pixel position of the coordinate origin on a navigation map, the pixel point position of the navigation map is changed, SLAM map data is correspondingly modified, and according to data setting required by driving, a user-defined map and a driving route are planned by modifying the pixel point data of the navigation map.

Description

technical field [0001] The invention discloses a method and a system, and relates to the technical field of automatic driving, in particular to a method and a system for optimizing a robot navigation map. Background technique [0002] The ROS community is a relatively mature and practical robot operating system in the field of robotics. It maintains the underlying hardware and upper-level software of the robot through rosmaster, and integrates complex sensor drives, positioning functions, navigation decision-making and path planning functions, and underlying control. Encapsulation becomes an easy-to-maintain node based on rosmaster. However, when existing robots use move_base to navigate, they need to first generate a positioning map based on the SLAM algorithm, and then convert and generate a navigation map. At this time, the quality of the navigation map is closely related to the map created by SLAM. Restrictions can easily lead to some dirty data on the navigation map th...

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 任秋安高明
Owner 山东新一代信息产业技术研究院有限公司
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