The Topological Mapping Of Mobile Robot In Warehousing Environment

With the development of industrial automation,mobile robots are widely applied in the warehousing environment.The map of warehousing environment is necessary for mobile robot to accomplish missions in warehouse.With the large scale,structured and repeated features of warehousing environment,it is a challenge to select a map type and generate the map.In this paper,we choose the topological map with scale information to model the environment and research the topological map construction technology.First,this paper preprocesses the information of the laser range scanner.According to the structured feature of warehousing environment,the line segment features were extracted.Based on the line segments,the lane feature was extracted.Based on the method of point-to-line ICP,a laser odometer was implemented.Then,we built the topological map based on node.A topological node detection method is proposed by using Delaunay triangulation based on line segment features.We improved the node detection method to increase the computational efficiency and the ability to extract complex node.The centerline method was used determine the center of the topological node and its coordinates.To detect the closed-loop in the high repeatable warehousing environment,the feature of edge-angle sequence was designed.Based on nodes,a topological mapping strategy was proposed.Large amount of time and resource are consumed during the mapping process in the large scale warehousing environment,whatever the robot moves autonomously or manually.This makes the optimization of mapping route important.The path length goal and closed-loop first goal were proposed to decrease the cost of mapping and increase the map quality.The problem of constructing the map was transformed into a multiobjective Chinese postman problem,which was solved by genetic algorithm.The selfevolution process was introduced to accelerate the algorithm.Finally,a simulation warehousing environment was set up and experiments were conducted.The result of the experiment verified the effectiveness and accuracy of the methods in this paper.