Service robot autonomous navigation method based on deformable topological map

Abstract

The invention relates to a service robot autonomous navigation method based on a deformable topological map in the technical field of robot navigation, which comprises the following steps: collecting the geography and physiognomy condition of an indoor and outdoor environment in which a robot is located in real time by a SLAM technology; extracting environmental characteristics; creating a topological map of collected information and establishing the needed different sizes of a topological point according to the posture change of the service robot in the foundation; taking the sizes as input amount to reconstruct the topological map; and generating a topological point self-adapting topological map conforming to the posture change of the mobile robot.

Description

technical field [0001] The invention relates to a method in the technical field of robot navigation, in particular to an autonomous navigation method for a service robot based on a deformable topological map. Background technique [0002] In recent years, with the development of computer, sensor and network technology, it has become possible for robots to enter the home. The focus of people's attention has also shifted from fixed robotic arms and manipulators in structured environments to autonomous mobile intelligent robots in non-structural unknown environments. The traditional method of modeling the space environment of the manipulator based on the factory environment and teaching motion has been unable to meet the new tasks faced by autonomous mobile robots, such as the problem of generating motion paths for dual-arm service robots in a known environment. In the past, most of the mobile path maps of robots in a given environment used topological path maps. Topological m...

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Problems solved by technology

[0003] After searching the literature of the prior art, it is found that the patent publication number CN101033971A, published on September 12, 2007, records a "mobile robot map creation system and map creation method", which distributes wireless sensor network nodes on Monitor the area and form a wireless sensor network, construct a global topological mobile map based on the data of wireless sensor network nodes; this method needs to lay a considerable number of wireless sensors in advance, and the obtained map will be incomplete due to the default of the sensor in the corresponding position

[0004] After searching, it was found that John J.Leonard and Hugh F.Durrant-Whyte of Princeton University et al. in Intelligent Robots and Systems'91.'Intelligence for Mechanical Systems, Proceedings IROS'91.IEEE / RSJ International Workshop on: 1442-1447.( Simultaneous map building and localization for an autonomous mobilerobot (Application of SLAM Technology on Mobile Robots) published at IEEE International Conference on Robotics and Systems in 1991, doi: 1442-1447, which describes an intelligent mobile robot through SLAM technology , a method to describe the information of the environment, but mainly focuses on the positioning of the robot and the description of the environment, can not process the obstacle information in the environment, generate a usable moving map, and effectively realize autonomous navigation

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