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Indoor map construction method of mobile robot

A mobile robot, indoor map technology, applied in the direction of re-radiation of instruments, electromagnetic waves, utilization of re-radiation, etc., can solve the problems of inaccurate positioning, low mapping accuracy, and large environmental dependence, so as to improve accuracy and efficiency, reduce Cumulative Error and System Drift, Effects of High Universality

Active Publication Date: 2021-01-15
SOUTHWEAT UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

[0007] Aiming at the above-mentioned deficiencies in the prior art, the method for constructing an indoor map of a mobile robot provided by the present invention solves the problems of large dependence on the environment, inaccurate positioning and low precision of mapping in the construction process of the existing indoor map of the robot

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  • Indoor map construction method of mobile robot
  • Indoor map construction method of mobile robot

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Embodiment Construction

[0059] The specific embodiments of the present invention are described below so that those skilled in the art can understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

[0060] Such as figure 1 As shown, a mobile robot indoor map construction method includes the following steps:

[0061] S1. Collect the odometer data, fingerprint information and laser scanning data of the mobile robot respectively;

[0062] S2. Based on the odometer data and fingerprint information, construct and train the fingerprint "similarity-distance" model;

[0063] S3. Based on the trained fingerprint "similarity-d...

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Abstract

The invention discloses an indoor map construction method of a mobile robot. An odometer, WiFi equipment and a laser radar in an environment are adopted as sensing units to achieve the collection of WiFi fingerprint data, odometer data and laser data, the odometer provides a rough pose change of the robot, the WiFi fingerprint data is fused to provide a more precise pose, on the basis, laser datais combined to construct an indoor map, and the method is a method for accurately constructing an indoor environment map by fusing the data. WiFi data is fused in the indoor map construction process,a similarity-distance model is trained, fingerprint closed-loop detection is carried out, accumulated errors of the odometer are effectively reduced, map construction of the laser radar in a complex and changeable environment can be assisted, and the accuracy of indoor map construction is improved. The method can be widely applied to map construction in various complex environments, and has relatively high universality.

Description

technical field [0001] The invention belongs to the technical field of indoor map building of a mobile robot, and in particular relates to a method for building an indoor map of a mobile robot. Background technique [0002] In recent years, mobile robot technology has played an important role in many fields such as industry, medical treatment and service, and it has also been well applied in harmful and dangerous situations such as national defense and space detection. [0003] In the research field of mobile robots, SLAM has always been a hot research topic. It provides navigation maps and real-time positions for robots, which are the prerequisites for robots to perform path planning and path tracking, so it occupies a very important role in mobile robot navigation. important position. [0004] Because lidar has the advantages of high precision, wide range, and fast transmission speed, lidar is increasingly used in mobile robot navigation applications. The construction tec...

Claims

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Application Information

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IPC IPC(8): G01S17/89G01C21/00G01C21/20
CPCG01S17/89G01C21/005G01C21/206
Inventor 刘冉陈凯翔秦正泓曹志强何永平付文鹏张华
Owner SOUTHWEAT UNIV OF SCI & TECH
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