Robot map construction method in complex environment based on fog computing

Abstract

The invention discloses a method for constructing a robot map in a complex environment based on fog computing, including establishing a fog computing framework; the robot collects data information through sensors, transmits the data information to the fog network, and puts forward a task request for data processing. The genetic algorithm of the fog machine collaboration model is used to allocate tasks; the fog nodes execute task requests and feed back the execution results to the robot; the robot uses the extended Kalman filter algorithm to construct a local sub-map according to the execution results, and uses the sparse extended information filter algorithm to map the local Submaps are joined into a global map. The present invention can effectively shorten the communication delay; utilize the characteristics of strong information processing ability of the fog node, effectively avoid the situation of excessive load of the airborne unit caused by completely relying on the robot; and the establishment and connection of sub-maps reduce the complexity of the algorithm It solves the problem of high complexity of the overall algorithm when constructing the global map, and the process of constructing the map is fast and effective.

Description

technical field [0001] The invention relates to a robot map construction method in a complex environment, in particular to a robot map construction method in a complex dynamic environment based on fog computing. Background technique [0002] For a long time, people's exploration of complex environments has been full of challenges. The uncertainty of unknown regions and dynamic interference have greatly affected the effect of map construction. For example: fire rescue scene, detection of underwater environment, exploration of steep mountain and rock areas. With the development of technology, most of these complex environments can be summed up together, and our processing methods are no longer restricted by regions. In waters, we can use sound waves instead of wireless signals to transmit data, and control underwater environments through remote operations on land. Robot task requests, so it is of great significance to map construction in complex environments. [0003] With t...

AI Technical Summary

Problems solved by technology

[0005] Purpose of the invention: In order to solve the problem of high complexity and high energy consumption of the algorithm for constructing robot maps in complex environments in the prior art, the present invention provides a method for constructing robot maps in complex environments based on fog computing

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