Autonomous exploration method and system based on layered boundaries and views

The invention provides an autonomous exploration method and system based on a layered boundary and a visual graph, and relates to the field of mobile robot autonomous exploration, in the process that a robot moves to a current target point, the following steps are executed in real time until environ...

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Bibliographic Details
Main Authors TIAN XINCHENG, ZHANG CHEN, LI YIBIN, SONG RUI, CAO LUYANG, ZHOU LELAI
Format Patent
LanguageChinese
English
Published 07.05.2024
Subjects
CALCULATING
COMPUTING
COUNTING
ELECTRIC DIGITAL DATA PROCESSING
GYROSCOPIC INSTRUMENTS
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
SURVEYING
TESTING
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Summary:The invention provides an autonomous exploration method and system based on a layered boundary and a visual graph, and relates to the field of mobile robot autonomous exploration, in the process that a robot moves to a current target point, the following steps are executed in real time until environment exploration is completed: a sub-map point cloud generated based on laser SLAM and a translation rotation matrix are calculated; incrementally constructing a three-dimensional map of the exploration environment; according to voxels with state changes in the three-dimensional map, local boundaries are extracted in real time through a layered boundary construction method, and global boundaries are constructed in an incremental mode; after the robot arrives at the current target point, clustering the global boundary to obtain a candidate target point set; the candidate target point set is evaluated in combination with the visual graph and a priority queue BFS, the next target point is determined, and the robot is
Bibliography:Application Number: CN202410095765