Method for constructing three-dimensional map by mobile robot in unknown environment

Abstract

The invention discloses a method for constructing a three-dimensional (3D) map by a mobile robot in an unknown environment, and proposes a multi-exploration strategy method combining information gainguided local exploration strategy and global boundary exploration strategy for a problem of constructing a map of an indoor unknown 3D environment. The method comprises the following steps: firstly, constructing an autonomous exploration and 3D map construction system framework of the mobile robot, which comprises a map construction module and an exploration decision planning control module; secondly, establishing an information gain guided decision model based on a Shannon information theory and designing an information gain objective function calculation applied to multi-step exploration action evaluation; and finally, constructing a local exploration strategy by using an offline local motion trajectory, realizing a multi-strategy exploration method by combining with the information gainguided global boundary exploration strategy, and dynamically switching the two strategies during exploration according to real-time construction situations of the 3D map. Experimental results show that the method provided by the invention ensures integrity of map construction while rapidly constructing the 3D map.

Description

technical field [0001] The invention belongs to the technical field of autonomous exploration and map construction in an unknown environment, and in particular relates to a three-dimensional map construction method for a mobile robot in an unknown three-dimensional environment. Background technique [0002] In an unknown environment, in order to complete various complex tasks such as autonomous navigation and scene reconstruction, a mobile robot must independently explore the unknown environment and select an appropriate map expression form for map construction, such as grid maps, point cloud maps, and topological maps. . Researchers have proposed a variety of exploration strategies, mainly based on geometric boundaries and information theory. Yamauchi proposed a geometric boundary-based autonomous exploration and two-dimensional grid map construction method, which defines the adjacent part of the explored area and the unknown area as the boundary area, and uses a depth-fir...

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Problems solved by technology

[0005] Summarizing the above literature, the existing autonomous exploration and 3D map construction methods either do not accurately model the decision-making model based on information gain and propose an appropriate way to calculate the information gain, or ignore the dynamic update of map information during the exploration process. It is difficult to achieve rapid exploration and map construction of the three-dimensional environment, and does not consider guiding the mobile robot to achieve overall coverage exploration in the accessible space, so as to realize the complete construction of the map

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