3D Indoor Map Construction Of Mobile Robot Based On LIDAR

Map construction is an important precondition to ensure that mobile robots truly realize autonomous mobile navigation and other functions.It is an important aspect of environmental perception and one of the key technologies for realizing intelligent robots.In order to achieve independent and high-precision map construction,this paper has established a set of mobile robot autonomous map construction system,it will achieve the location,map construction,viewpoint selection and path planning.The specific research content and achievements are as follows:(1)In order to achieve autonomous construction of three-dimensional maps of mobile robots in indoor,a low-cost and high-precision mobile robot system based on laser radar was constructed.The sensor's sensing module,data processing module,and drive control module were respectively designed.The function of each module of the mobile robot is verified through experimental tests.The test results show that the system meets the performance requirements of this paper.(2)In order to realize the construction of a three-dimensional map of a large-scale indoor scene,a method of combining localization of laser radar,inertial devices,with odometers is proposed for the problem of indoor positioning of mobile robots.The method uses combine an inertial device with an odometer to locate and output the high frequencies pose,at the same time,corrected by the low-frequency pose obtained by point cloud matching,Experimental results shows that compared with point cloud matching correction and point cloud matching correction,the positioning error is reduced by 75%;then based on the map construction method,it is feasible being verified through experiments of the site-matching composition method and continuous composition method.The maps and standard maps constructed by mobile robots are compared and analyzed.The average error based on the site-matching map construction is 0.0012 m.The average error of the map obtained by the composition method is 0.0019 m,and the accuracy is improved by 34% compared with the result of composition correction with no point cloud matching.(3)In order to realize the autonomous construction of maps for mobile robots in unknown environments,the method of selecting the view point based on the maximum unknown information is first designed.This method compares the unknown information of the candidate viewpoints,selects the viewpoints that can obtain the maximum unknown information,and then targets the mobile.From the current position to the next viewpoint path planning problem,the robot uses the best path search method based on the A* algorithm to plan a shortest distance collision-free path.Finally,it verifies the feasibility of the viewpoint planning method and path planning method.Ultimately,it will realize autonomous,efficient,and reliable map construction for unknown spaces.