基于仿生的机器人室内地图构建方法的研究

Research on indoor map construction method of robot based on bionic

针对现有机器人室内地图构建算法复杂、数据量大、所需设备昂贵等问题,提出一种仿生的室内地图构建方法.该方法通过仿生人眼对颜色信息和深度信息的获取与处理,进行路径识别与路径测距.通过仿生人类对距离模糊处理的特点,运用模糊集方法进行距离判定与表示.采用二维码对环境中的标志物进行标注,形成地图定位点,通过数据库实现了地图拓扑构建与存储.实验结果表明,在复杂的室内环境中,机器人能够通过查询数据库中的地图实现在室内自主行走.

In this method,the path identification and path ranging are carried out by simulating the acquiring and processing color and depth information capability of human eyes.The fuzzy set method is used to judge and express the distance by simulating the fuzzy distance expression capability of human.To simulate the experience of memorizing environment by markers,two-dimensional codes are applied to label environment markers and form positioning points.Finally,database technology is adopted to build and store the topology data of the map.The effectiveness of the method is verified in a complex indoor environment and the robot can walk autonomously by querying the constructed map database.