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Map updating method and system based on improved Gmaping-SLAM

A technology for map update and operation improvement, which is applied to road network navigators and other directions, and can solve problems such as increasing computational complexity

Pending Publication Date: 2021-05-28
NANJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, Gmapping requires a large number of particles to obtain better results, which increases the computational complexity

Method used

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  • Map updating method and system based on improved Gmaping-SLAM
  • Map updating method and system based on improved Gmaping-SLAM
  • Map updating method and system based on improved Gmaping-SLAM

Examples

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Embodiment 1

[0029] An improved Gmapping-SLAM map update method, comprising: collecting environmental information around the robot, positioning the robot and its surrounding objects; using the collected environmental information as input, running an improved Gmapping algorithm, including: according to the environment The amount of point cloud fluctuation in the information adjusts the number of particles required for sampling; determine the linear relationship between the amount of point cloud fluctuation and the number of particles, so that the number of particles changes in a linear manner with the change of the complexity of the environment, and the map is updated.

[0030] Such as figure 1 As shown, the improved Gmapping-SLAM map update method described in this embodiment mainly includes the following steps:

[0031] Step S1, start the ROS system (robot operating system) to provide a development platform for the SLAM (real-time positioning and map construction) of the robot;

[0032] ...

Embodiment 2

[0062] Based on the improved Gmapping-SLAM map update method described in Embodiment 1, this embodiment provides an improved Gmapping-SLAM map update system, including:

[0063] The first module is used to collect environmental information around the robot and locate the robot and its surrounding objects;

[0064] The second module is used to run the improved Gmapping algorithm with the collected environmental information as input, including: adjusting the number of particles required for sampling according to the point cloud fluctuation in the environmental information; determining the linearity between the point cloud fluctuation and the number of particles Relationship, so that the number of particles changes in a linear manner with the change of the complexity of the environment, and the map is updated.

[0065] Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Acco...

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Abstract

The invention discloses a map updating method and system based on improved Gmaping-SLAM in the technical field of positioning and map construction. The method and the system can be used to adaptively adjust the number of particles according to environmental characteristics and increase the number of particles in a complex environment so as to ensure the accuracy of map construction. And the number of particles is reduced in a simple environment so that the operation speed is ensured, and a resource utilization rate is optimized. The method comprises the steps of collecting environment information around a robot, and positioning the robot and objects around the robot; taking the collected environment information as input, and operating an improved Gmapping algorithm, which includes that the number of particles needed by sampling is adjusted according to the point cloud fluctuation quantity in the environment information; and determining a linear relation between the point cloud fluctuation quantity and the particle number so that the particle number changes along with the change of the environmental complexity in a linear mode, and realizing map updating.

Description

technical field [0001] The invention belongs to the technical field of positioning and map construction, and in particular relates to an improved Gmapping-SLAM map updating method and system. Background technique [0002] With the development of science and technology and the application of artificial intelligence technology, everyone has higher expectations for the performance of autonomous mobile robots, and gradually develops towards diversified autonomy. Autonomous mobile robots refer to intelligent products with autonomous positioning and navigation in unfamiliar environments. [0003] SLAM is synchronous positioning and map generation. It is to place the robot in an unfamiliar scene. It can continuously collect surrounding environmental information through sensors to locate its own position during movement, and then build an environmental map according to the positioning. When building a map based on the laser sensor SLAM algorithm, an occupancy grid map is generally ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/32
CPCG01C21/32
Inventor 李晓飞陈鹏
Owner NANJING UNIV OF POSTS & TELECOMM
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