Navigation Target Point Mapping for Faster Unknown-Area Exploration
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Solution Overview
Problem
Current robot navigation methods in unknown environments without complete maps are inefficient, often requiring longer exploration times due to wall-following strategies, which reduce navigation efficiency.
Innovation Solution
A method and device for determining navigation target points using image processing techniques, including contour extraction, dilation, erosion, and centroid calculation to identify key areas for efficient exploration and mapping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If wall-following exploration method is used, then the robot can navigate in unknown environments, but the exploration time is extended and navigation efficiency is reduced
Solution Approach 1:
The patent performs preliminary contour extraction and dilation operations on the map data before navigation to pre-identify potential target points and connecting sections. This allows the robot to plan its exploration path in advance rather than reacting step-by-step during wall-following, thereby reducing actual exploration time while maintaining reliable navigation capability in unknown environments
Solution Approach 2:
The patent introduces an intermediate processing layer between map acquisition and navigation decision-making. The contour extraction and dilation operations create an intermediate representation that highlights potential exploration targets, serving as a mediator that guides the robot more efficiently through unknown spaces without abandoning the reliability of systematic exploration
2Reliability
If wall-following strategy is adopted, then the robot can systematically explore areas, but navigation efficiency is reduced
Solution Approach 1:
The patent segments the exploration task by identifying and prioritizing specific target points (such as endpoints of connecting sections) within the unknown area. Instead of uniform wall-following throughout, the robot segments the path into directed segments toward identified targets, maintaining systematic exploration while improving navigation efficiency by focusing on key locations
Solution Approach 2:
The patent changes the navigation parameters by using contour distance and dilation processing to identify target points at different priorities. This parameter-based approach allows the robot to adjust its exploration behavior dynamically, moving systematically toward high-priority targets first, thereby improving navigation efficiency while maintaining thorough exploration coverage
Data Source
AI summary
A method for determining positions of navigation target points includes: acquiring an initial map, wherein the initial map represents a plan view corresponding to an explored area; performing contour extraction processing on the explored area to obtain a first contour map corresponding to the explored area, wherein the first contour map includes one or more connecting sections, and the one or more connecting sections are between adjacent ones of a number of sub-areas in the explored area, respectively; performing dilation processing on the first contour map to obtain a second contour map to remove the connecting sections; based on the initial map and the second contour map, extracting at least one navigation target point area from the explored area; and determining the positions of the navigation target points based on connected components corresponding to the at least one navigation target point area.