| ISC is always combined with grid method due to simple in principle, easy for understanding and programming and high coverage in given area. However, size of each grid is essential to length and calculated quantity of ISC, furthermore, execution efficiency, integrity and veracity of ISC cannot be guaranteed in complex environment. In this thesis, Artificial Moment Method(AMM) is introduced and improvement work of ISC is presented.Firstly, in order to ensure that robot can back to the original orbit accurately, detachment and return point are presented. Secondly, 3 detection rules based on AMM are presented, which takes obstacle data as criterion. These rules can lower the repetitive rate of ISC and keep the robot safe to detect barriers. Finally, according to the presented concepts and rules, combining the virtues of AMM, improved ISC algorithm of single robot map building is presented.In the given area, robot moves along ISC path in the form of clockwise. When encountering an obstacle, detachment point will be established. Droid will enter AMM mode and analyze barrier data. If the barrier doesn t block the orbit, robot will move in ISC mode; robot will turn left to detect if it doesn t have any priori knowledge and the route is blocked by obstacle, otherwise, robot will turn right to detect. Return point will be built if it bypasses the obstacle. Robot will back to the initial orbit exactly by return point then it will enter ISC mode. Robot will finish its task when path length is less than the radius of robot s sensor.In the simulation experiment, the given area is represented by geometric model which is made by segments in the form of end to end. Integrating ISC, AMM and related rule presented in this paper, simulation result is obtained. According to the result, every hole and corner in the given region can be detected using ISC and accurate obstacle representation is gained based on AMM. It turned out that the exploration, the robot is results consistent with the actual situation. |
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