| Citation: | ZHANG Lizhi, CHEN Diansheng, LIU Weihuiet al. Care robot indoor navigation method based on hybrid map[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(5): 991-1000. doi: 10.13700/j.bh.1001-5965.2017.0325(in Chinese)
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When the care robot is navigating in the indoor 3D structured environment, it is faced with the disadvantage of the large computational cost for map building and the lack of semantic information in the map. This paper presents a hybrid map building method based on point and plane features, which combines the advantages of point and plane features in the map building. Furthermore, an indoor navigation system is built based on the proposed hybrid map. First, point and plane features are fast extracted, and then data association is achieved using the interpretation tree approach. The smoothing and mapping tool is utilized to construct the factor graph and jointly optimize robot poses and landmarks, and the hybrid map is refined and updated. Second, the indoor navigation system is built, which implements the 3D obstacle detection, path planning and motion control. Finally, the indoor navigation experiments were carried out in a corridor environment. With the 2D occupancy grid map constructed by laser as the reference, the performance of map building and robot localization accuracy were analyzed, which proves that the indoor navigation system based on hybrid map shows its advantages in indoor structured environments.
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