Research On Single Mobile Robot Complete Building Map Of A Given Area

Only mobile robots identify environment can they complete the task such as pathplanning, navigation and positioning, so it is badly necessary for mobile robot to buildmap for unknown environment. Mobile robot must identify environment beforebuilding map if it has no-priori knowledge to environment. It is very important thatmobile robot builds map and identifies environment for working, so the problemsabove mentioned are researched deeply in this paper.It is a pivotal part to update the global map for the mobile robot, which is aprocess of environment information fusion by adding local information into globalinformation. The method of the segments matching and inserting is proposed forsolving the above problem. Segments with related matching are confirmed by judgingwhether the current detected obstacle boundary segment and the existing obstacleboundary segment are collinear or not in this method. The current detected obstacleboundary segment is inserted into the existing obstacle boundary segment when thetwo segments are matching, or the current detected obstacle boundary segment isadded to the existing obstacle boundary segments.Mobile robot’s working scene is represented by geometric model which ismade up of segments in simulation environment. The method of mobile robot judgingdirect obstacle segments based on binary search method is proposed for simulationtechnology of mobile robot recognition environment. The two methods abovementioned are applied to the simulation of mobile robot path planning in this paper.The experimental results show that mobile robot could accurately screen out obstaclesegments which will impact on mobile robot operation with the method of mobilerobot judging direct obstacle segments based on binary search method; the mobilerobot can effectively draw the obstacles in the environment while the methodproposed of the segments matching and inserting is applied to update environmentmap.Mobile robot needs to completely detect environment and identify the wholework environment before building map, so the process of mobile robot identifingenvironment is considered as a special path planning. In this paper, a novel completerecognition in a given obstacle area method is proposed based on artificial momentmethod with a high efficiency because of its reliable performance, which makes robotavoid the trap in a complex environment. Mobile robot around each obstacle runsnearly a circle while mobile robot identifies the environment by setting attractivesegments and points. The simulation result shows that mobile robot could accomplishthe whole detection of the given obstacle environment by the method proposed above,and the obstacles drawn are identical with the obstacles in original unknownenvironment.