Channel Map Construction Method For Indoor Mobile Robot Based On Neighborhood System

For indoor mobile robots,the autonomous construction of indoor maps is the premise and foundation for the realization of robot autonomy and intelligence.This paper applies the construction idea of highway network in the transportation system to the indoor environment,and constructs the main channel that enables the robot to move quickly in the indoor environment.Combining the map with the main channel provides a method to construct the channel map.Aiming at the construction of indoor mobile robot channel map,based on the idea of neighborhood system,all the indoor environmental information is divided into a limited number of feasible neighborhoods,and after approximated by appropriate standard feasible neighborhoods,each standard feasible neighborhood is divided into Build the main channel.Therefore,the problem of constructing a mobile robot channel map in a complex indoor environment is simplified as a superposition of the main channels in a series of standard feasible neighborhoods.Therefore,only the construction of the main channel within the standard neighborhood of different sizes needs to be considered separately,thereby reducing the complexity of the map construction problem.For the construction of the main channel of the mobile robot in the indoor environment,firstly,the global coordinate system based on the initial position of the robot and the real-time coordinate system of the mobile robot are established.Secondly,the original data of the sensor is corrected,and the existing method is used to obtain the environmental information constructed by the main channel,that is,the barrier-free area of the indoor environment,and its important line segments are marked and stored.Thirdly,in order to facilitate the mathematical description,the concept of the main channel and the δ-level coverage condition of the main channel to the indoor feasible area are given.According to practical requirements,the relevant limiting conditions of the main channel and three quantitative evaluation indexes of the main channel are proposed,which are the length index,the bending resistance index and the safe and feasible index.Based on these evaluation indicators,a multi-objective optimization model of the main channel is constructed.It is transformed into a comprehensive single-objective optimization problem in a linearly weighted way.Based on this,the satisfaction of the main channel is introduced,and an optimization solution algorithm of the satisfied main channel based on the standard feasible neighborhood is proposed.Theoretically it is proved that in the indoor feasible area,the existence of the main channel satisfying the δ-level coverage condition,and the convergence of the optimization algorithm is proved.Finally,taking a common indoor environment as an example,a Matlab simulation experiment is carried out to verify the feasibility and effectiveness of the method of constructing a channel map in this paper.Compared with the previous methods of constructing maps,the channel map constructed in this paper is simple and easy to implement.The main channel in the channel map is the "highway" of the mobile robot indoors,which makes the robot’s path planning relatively simple.It is also beneficial to improve the moving speed of the robot indoors,thereby improving the efficiency of the robot reaching the target area to a certain extent.