Aiming at the problems of repeated area exploration and incomplete drawing of indoor robot in unknown environ-ment,an improved method of compound boundary point driven robot exploration is proposed.Firstly,in order to balance the extrac-tion rate and calculation amount of boundary points,a compound boundary point extraction method with variable RRT step size is proposed.Secondly,in order to reduce repeated region exploration,a candidate point weight function is proposed to make the robot explore the nearby region first.Then,in order to make the frontier boundary point judgment more reasonable and reliable,the fron-tier boundary point evaluation model is constructed to optimize and improve the exploration path planning method.Finally,the com-parative experimental results show that this method optimizes the exploration trajectory and effectively improves the efficiency of ex-ploration mapping.
关键词
自主探索/前沿边界点/移动机器人/未知环境/评估模型
Key words
autonomous exploration/frontier boundary point/mobile robot/unknown environment/evaluation model
维普
万方数据