一种基于高效边界探索的机器人自主建图方法

doi:10.12052/gdutxb.200030

Abstract

Abstract: An improved autonomous frontier exploration method is presented to solve the problems of autonomous mobile robot autonomously exploring indoor unknown environments with low efficiency, poor versatility, and incomplete map construction due to the narrow exploration area. The curve fitting method is used to screen the safety target exploration area for the constructed initial map frontier and for the robot unreachable target exploration area, adopting a sliding window neighborhood planning method to establish a new target exploration point, guiding the robot to autonomously navigate to the target exploration point, while using simultaneous localization and mapping technology to complete the robot's autonomous exploration and mapping of unknown environments. The experimental results show that the method can better solve the problems of narrow target area and unreachable target points in the traditional algorithm. And it can complete autonomous exploration and mapping of unknown indoor complex scenes with fewer exploration times, shorter exploration paths and higher exploration efficiency.

Key words: autonomous mobile robot, autonomous mapping, curve fitting, frontier exploration

CLC Number:

TP399

Liu Rui-xue, Zeng Bi, Wang Ming-hui, Lu Zhi-liang. An Autonomous Mapping Method for Robot Based on Efficient Frontier Exploration[J].Journal of Guangdong University of Technology, 2020, 37(05): 38-45.

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