机器人自主探索与地图构建方法

Xiaojing Tian, Bing Li, Yuwei Du, Minghao Wang
{"title":"机器人自主探索与地图构建方法","authors":"Xiaojing Tian, Bing Li, Yuwei Du, Minghao Wang","doi":"10.1109/ICRAI57502.2023.10089570","DOIUrl":null,"url":null,"abstract":"How to enable effective autonomous exploration and construction maps in unknown indoor environments is one of the key issues in the field of mobile robots. The mobile robot autonomous exploration and map building system studied in this paper aims to further improve the autonomy of the indoor mobile robot, so that the robot can independently complete the exploration and map building task in the unknown indoor environment and realize the autonomous navigation and other functions according to the constructed environment map. An independent exploration and SLAM construction method based on the fast exploration random tree (RRT) is proposed, applying the RRT algorithm to the boundary exploration field. Through performing collision tests by randomly spreading the sampling points in the environment and adding the parameters of the adaptive step size, the boundary points are optimized and evaluated for the best explored boundary points. At the same time, using the combination of global RRT and local RRT construction method, it accelerates the exploration of the unknown environment, until throughout the whole environment. Experimental testing in a simulation environment, the experimental results show that the system works very well, and can independently go through the whole environment and complete the map drawing.","PeriodicalId":447565,"journal":{"name":"2023 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"127 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Robot Autonomous Exploration and Map Building Method\",\"authors\":\"Xiaojing Tian, Bing Li, Yuwei Du, Minghao Wang\",\"doi\":\"10.1109/ICRAI57502.2023.10089570\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"How to enable effective autonomous exploration and construction maps in unknown indoor environments is one of the key issues in the field of mobile robots. The mobile robot autonomous exploration and map building system studied in this paper aims to further improve the autonomy of the indoor mobile robot, so that the robot can independently complete the exploration and map building task in the unknown indoor environment and realize the autonomous navigation and other functions according to the constructed environment map. An independent exploration and SLAM construction method based on the fast exploration random tree (RRT) is proposed, applying the RRT algorithm to the boundary exploration field. Through performing collision tests by randomly spreading the sampling points in the environment and adding the parameters of the adaptive step size, the boundary points are optimized and evaluated for the best explored boundary points. At the same time, using the combination of global RRT and local RRT construction method, it accelerates the exploration of the unknown environment, until throughout the whole environment. Experimental testing in a simulation environment, the experimental results show that the system works very well, and can independently go through the whole environment and complete the map drawing.\",\"PeriodicalId\":447565,\"journal\":{\"name\":\"2023 International Conference on Robotics and Automation in Industry (ICRAI)\",\"volume\":\"127 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-03-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2023 International Conference on Robotics and Automation in Industry (ICRAI)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICRAI57502.2023.10089570\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 International Conference on Robotics and Automation in Industry (ICRAI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICRAI57502.2023.10089570","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

摘要

如何在未知的室内环境中实现有效的自主探测和绘制地图是移动机器人领域的关键问题之一。本文研究的移动机器人自主探索和地图绘制系统,旨在进一步提高室内移动机器人的自主性,使机器人能够在未知的室内环境中独立完成探索和地图绘制任务,并根据构建的环境地图实现自主导航等功能。提出了一种基于快速勘探随机树(RRT)的自主勘探和SLAM构建方法,将RRT算法应用于边界勘探领域。通过在环境中随机扩展采样点并加入自适应步长参数进行碰撞测试,对边界点进行优化和评估,找出最优探索的边界点。同时,采用全局RRT与局部RRT相结合的构建方法,加速对未知环境的探索,直至贯穿整个环境。在仿真环境中进行了实验测试,实验结果表明,该系统工作效果非常好,能够独立穿越整个环境,完成地图绘制。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Robot Autonomous Exploration and Map Building Method
How to enable effective autonomous exploration and construction maps in unknown indoor environments is one of the key issues in the field of mobile robots. The mobile robot autonomous exploration and map building system studied in this paper aims to further improve the autonomy of the indoor mobile robot, so that the robot can independently complete the exploration and map building task in the unknown indoor environment and realize the autonomous navigation and other functions according to the constructed environment map. An independent exploration and SLAM construction method based on the fast exploration random tree (RRT) is proposed, applying the RRT algorithm to the boundary exploration field. Through performing collision tests by randomly spreading the sampling points in the environment and adding the parameters of the adaptive step size, the boundary points are optimized and evaluated for the best explored boundary points. At the same time, using the combination of global RRT and local RRT construction method, it accelerates the exploration of the unknown environment, until throughout the whole environment. Experimental testing in a simulation environment, the experimental results show that the system works very well, and can independently go through the whole environment and complete the map drawing.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信