Robot SLAM Path Control for Frequent Loop Closing in Large Areas
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Solution Overview
Problem
SLAM technology struggles to generate high-quality maps in large areas where robots rarely revisit, leading to map degradation due to insufficient loop closings.
Innovation Solution
A method and system that control robot movement to perform multiple loop closings based on accumulated distance measurements and feature point matching, using a robot with sensors and an electronic device that determines the need for loop closing and generates path information for improved map quality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If SLAM technology is used to draw maps in large areas, then the robot can operate autonomously, but the map quality deteriorates due to insufficient loop closings
Solution Approach 1:
The system continuously monitors accumulated moving distance and feature point matching results, using this feedback to dynamically determine when loop closing should be performed. The determining unit compares current position information with historical data to identify opportunities for loop closing, ensuring map quality is maintained through data-driven decisions rather than fixed schedules.
Solution Approach 2:
The loop closing determination is made dynamic rather than static. The system adapts loop closing frequency based on real-time conditions including accumulated distance traveled, feature point matching quality, and area characteristics. This allows the robot to perform loop closings more frequently in areas needing refinement and less frequently in already-mapped regions.
2Area of stationary object
If the robot moves in large areas, then coverage is improved, but loop closing frequency decreases leading to map degradation
Solution Approach 1:
The system proactively identifies potential loop closing opportunities before the robot moves too far from known areas. By continuously tracking accumulated distance and comparing current sensor data with stored feature points, the system can guide the robot back to previously mapped areas to perform loop closings, preventing map degradation before it occurs.
Solution Approach 2:
The determining unit uses feedback from distance measurement and feature point matching to dynamically adjust the robot's path and trigger loop closings. When the system detects that accumulated distance indicates a potential loop closing opportunity, it provides feedback to the control unit to execute the loop closing maneuver, maintaining map quality across large areas.
3Manufacturing precision
If loop closing is performed frequently, then map quality is improved, but time consumption and operational efficiency decrease
Solution Approach 1:
The system performs loop closings selectively rather than continuously. By using accumulated distance thresholds and feature point matching quality as criteria, the system performs loop closings only when necessary to maintain map quality, avoiding redundant loop closings in already-well-mapped areas and thus preserving operational efficiency.
Solution Approach 2:
The system changes operational parameters dynamically based on map quality requirements and area characteristics. Loop closing frequency, threshold distances, and matching criteria are adjusted as parameters based on the current mapping state, allowing the system to maintain high map quality in critical areas while reducing loop closing frequency in stable, well-mapped regions to improve efficiency.
Data Source
AI summary
Provided are a method for drawing a map of a specific area, a robot and an electronic device that implement such a method. According to the present disclosure, the method, the robot, and the electronic device improve quality of the drawn map by moving the robot so that loop closing is performed many times when the map is drawn. To this end, an accumulated moving distance from a first position and a second position of the robot moving in the specific area is measured, and when the loop closing is not performed at the second position, whether the loop closing is required at the second position is determined based on the measured accumulated moving distance and information on matching of feature points at the second position, and a movement of the robot is controlled based on a result of the determination.