Multi-robot positioning and mapping system and method

Abstract

The invention provides a multi-robot positioning and mapping system and a multi-robot positioning and mapping method, which are applied to post-disaster rescue and acquire data information through a composite sensor of a robot, the data information includes depth information, IMU information, speedometer information and positioning information, the environment of a post-disaster rescue scene can be reflected in a detailed and three-dimensional manner; a gmapping algorithm based on Rao-Blackwellized particle filtering algorithm for robot positioning and mapping, the efficiency of mapping is high. A*algorithm is adopted to carry out global path planning, and a dynamic window algorithm is adopted to carry out real-time path planning, so that accurate and rapid navigation capability is achieved; Movelt is adopted to control a mechanical arm, so that the obstacles on the path are eliminated, and the capability of the robot to cope with the complex post-disaster rescue scene is improved; andthe two or more robots form a robot group, the unified allocation of the upper computer is received, a local grid map is fused into a complete map, and the positioning and mapping efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of safety rescue, in particular to a multi-robot positioning and mapping system and method. Background technique [0002] In recent years, with the development of artificial intelligence technology, the application environment of mobile robots has become more extensive. Among them, the popular simultaneous positioning and mapping (slam) technology of mobile robots can effectively improve the ability of robots to complete tasks autonomously. [0003] However, in the complex scene of post-disaster rescue, due to environmental factors such as complex geographical environment, many obstacles, and poor traffic, the rescue efficiency of mobile robots is slow, and the possibility of failure is greatly increased. Contents of the invention [0004] In view of the defects in the prior art, the object of the present invention is to provide a multi-robot positioning and mapping system and method. [0005] In the firs...

AI Technical Summary

Problems solved by technology

[0003] However, in the complex scene of post-disaster rescue, due to environmental factors such as complex geographical environment, many obstacles, and poor traffic, the rescue efficiency of mobile robots is slow, and the possibility of failure is greatly increased.

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