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Method for moving robot simultanously positioning and map structuring at unknown environment

A technology for mobile robots and unknown environments, applied in the field of simultaneous positioning and map construction of mobile robots in unknown environments, can solve problems such as uncertainty of robot positioning without considering the problem of robot positioning, and achieve the effect of less storage space and computing resources

Inactive Publication Date: 2007-07-18
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] The environment recognition equipment and method proposed in Chinese Invention Patent No. 200410100518.9 are mainly for multi-plane environments (ie stairs), and do not consider the uncertainty of robot positioning

Method used

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  • Method for moving robot simultanously positioning and map structuring at unknown environment
  • Method for moving robot simultanously positioning and map structuring at unknown environment
  • Method for moving robot simultanously positioning and map structuring at unknown environment

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Embodiment Construction

[0063] An implementation example of simultaneous localization and map construction of a robot in an unknown environment according to the present invention will be described in detail below with reference to the accompanying drawings. In this implementation example, the robot can move independently, and the distance measuring sensor equipped is a laser range finder, or a sonar range finder, or a stereo vision system, or a combination thereof, and the dead reckoning sensor equipped is an odometer .

[0064] Fig. 1 is the software flowchart of implementing the method of the present invention. The mobile robot starts from any position in the unknown environment and in any direction. First, collect sensor data (step S1), construct a local occupancy grid map and a local line segment feature map (step S2), and convert the local occupancy grid map data and local line segment feature map data into global map coordinates through coordinate system conversion system, thereby obtaining a...

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Abstract

A method for simultaneously carrying out positioning and map-making by mobile robot at unknown environment includes setting-up current local occupation lattice map and local section map according to data obtained by distance-measurement transducer on mobile robot, estimating current period pose of mobile robot based on certain data and some set-up map, setting-up obtained local section map and local occupation lattice map according to pose estimation of current period mobile robot and updating global occupation lattice map and global section map.

Description

Technical field [0001] The invention relates to a method and system for simultaneous positioning and map construction of a mobile robot in an unknown environment. They can be used for the mobile robot to start from any point in the unknown environment and estimate the robot's pose based on the sensing data of the ranging sensor and the dead reckoning sensor. and build a map of the environment. Background technique [0002] With the gradual expansion of the application scope of mobile robots, how to make robots autonomously recognize unknown environments has become a research hotspot in the fields of robotics and artificial intelligence in recent years. One of the ways for robots to autonomously recognize the unknown environment is to construct a model or map of the unknown environment, that is, the robot autonomously constructs a spatial model or map of its environment based on sensor measurement information (see "S.Thrun.Robotic mapping: Asurvey.In G .Lakemeyer and B.Nebel...

Claims

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Application Information

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IPC IPC(8): G05D1/02G06T7/00
Inventor 熊蓉王立
Owner ZHEJIANG UNIV
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