Indoor mobile robot autonomous exploration method based on laser radar

Abstract

The invention discloses an indoor mobile robot autonomous exploration method based on laser radar through establishment of topological nodes. According to the exploration object point extraction result, a topological map node is generated and the node is added in a topological map. The redundancy topological node treatment is carried out, all the topological nodes at the topological map are detected, the redundancy topological nodes are rejected, the topological map is subjected to closed loop processing, whether the current topological nodes and other topological nodes have closed loop can bedetected, if the closed loop exists, the closed loop is completed by adding a corresponding edge at the topological map, and when the environment has no unexplored node, the autonomous exploration iscompleted. The grid map is not required for extraction of the leading object point, the exploration object point is extracted through the laser data, the complex degree of the extraction algorithm isgreatly reduced, the accuracy and stability of the extraction result are guaranteed, the redundancy node rejecting and closed loop detection are carried out on the topological map, and the autonomousexploration efficiency of an indoor mobile robot can be greatly increased.

Description

technical field [0001] The invention belongs to the field of robot navigation and motion control, in particular to a control method for autonomous exploration of an indoor mobile robot based on laser radar. Background technique [0002] With the development of science and technology, the research of autonomous mobile robots has received more and more attention and recognition from the society. Autonomous mobile robots have been widely used in agriculture, industry, military, medical and daily life. Autonomous exploration in an unknown indoor environment is one of the key functions of an indoor robot. In the process of autonomous exploration, the robot needs to perceive the environment to obtain a series of local target points, and then guide the robot to traverse the environment. Almost all robot exploration strategies can be simplified as a process of generating an optimal exploration goal and moving to it. [0003] Topology method is an effective method to solve the prob...

AI Technical Summary

Problems solved by technology

However, as the scale of the environment increases, the amount of computation for frontier detection on the grid map will increase dramatically, which will lead to a significant decrease in the efficiency of robot exploration. At the same time, the accuracy of frontier extraction cannot be effectively guaranteed due to the resolution of the grid. ; For the establishment and maintenance of topological maps, the "tree" structure is usually used to store the topological maps of the exploration process

The "tree" way to describe the topological map leads to closed-loop characteristics that cannot effectively describe the environment for ring scenes from the data structure level, especially in larger environments with ring structures, which will greatly affect the exploration efficiency.

At the same time, the existence of redundant topological nodes on the topological map will greatly reduce the exploration efficiency

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