Autonomous exploration and mapping system and exploration and mapping method based on multi-robot collaboration

CN114859375BActive Publication Date: 2025-01-10HANGZHOU DIANZI UNIV
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Patent Information

Application Number
CN202210387032.6
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2022-04-13
Publication Date
2025-01-10
Estimated Expiration
2042-04-13

AI Technical Summary

Technical Problem

Traditional single-robot exploration and mapping tasks are inefficient, lack system reliability and stability, and the speed and accuracy of map building in unknown environments need to be improved, while requiring a large human resource investment.

Method used

An autonomous exploration mapping system employing multi-robot collaboration integrates technologies such as laser mapping, robot navigation, and path planning through SLAM map building, unknown boundary point detection, task allocation, and grid map fusion. It utilizes the collaborative work of a top-level server module and a bottom-level robot module to achieve rapid and accurate map building in unknown environments.

Benefits of technology

It improves the speed and accuracy of map construction in unknown environments, reduces manpower input, and enhances system reliability and exploration efficiency, which is of engineering significance.

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Abstract

The present invention relates to an autonomous exploration and mapping system and exploration and mapping method based on multi-robot collaboration. The present invention can be divided into a top-level server module and a bottom-level robot module, wherein the top-level server module is composed of five parts: a map fusion module, an unknown boundary point detection module, a boundary point clustering and filtering module, an exploration target point acquisition module, and a robot task allocation module; the bottom-level robot module is divided into a path planning module and a local map construction module. The method realizes multi-robot collaborative exploration tasks for unknown environments and can autonomously complete grid map construction. The present invention has the advantages of accurate map construction and high exploration efficiency, can liberate human resources in the map construction process to a large extent, and has strong market potential and application value.
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Citation Information

Patent Citations

  • Map exploration method for robot to explore unknown area, chip and robot

    CN113050632A

  • Moving robot and control method thereof

    WO2021006556A1