Improved multichannel spectral clustering algorithm-based cleaning robot map segmentation method

Abstract

The invention provides an improved multichannel spectral clustering algorithm-based cleaning robot map segmentation method. The method comprises the following steps that: parameters are inputted; a distance transformation algorithm is called to calculate distances between every two idle grids in a grid map, and a distance matrix is constructed; a Gaussian kernel function is adopted to construct a corresponding similarity matrix on the basis of the distance matrix, and a degree matrix is constructed according to the similarity matrix; a standardized Laplacian matrix is calculated on the basis of the similarity matrix and the degree matrix; an eigenmatrix is constructed according to eigenvectors corresponding to the first k largest eigenvalues of the Laplacian matrix; the eigenmatrix is standardized, so that an eigenmatrix which is represented by a symbol described in the descriptions of the invention can be obtained, with each line of the eigenmatrix which is represented by the symbol described in the descriptions of the invention adopted as one k-dimension sample, an algorithm is adopted to perform clustering; if vectors in the m-th line of the standardized eigenmatrix which is represented by the symbol described in the descriptions of the invention are allocated to an n-th cluster, an m-th idle grid is allocated to an n-th sub-region; and a segmented grid map is outputted. According to the method of the present invention, the influence of adjacent grids is fully considered, and the adaptability of the algorithm is improved.

Description

technical field [0001] The invention belongs to the technical field of cleaning robots, and in particular relates to a map segmentation method for cleaning robots based on an improved multi-path spectrum clustering algorithm. Background technique [0002] In recent years, with the development of intelligent technology, cleaning robots, such as sweeping robots, have entered thousands of households. It can complete the ground cleaning work autonomously without colliding with obstacles in the environment. It is easy to operate and highly automated. High and practical, it can help people to be freed from the tedious cleaning work. At present, cleaning robots have been widely used. [0003] The prerequisite for cleaning robots to efficiently complete cleaning tasks is to have a map describing the surrounding environment. In terms of environmental map creation, the robot can obtain environmental information through sensors and combined with existing SLAM (Simultaneous Localizati...

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Problems solved by technology

[0005] In view of this, the purpose of the present invention is to provide a segmentation method suitable for indoor cleaning robot environment maps to help solve the problem of task assignment of multiple cleaning robots in a large-scale environment

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