HEURISTIC BIAS SAMPLING-BASED INDOOR ENVIRONMENT ROBOT EXPLORATION METHOD

WIPO Patent Application WO/2023/016101

A1

A heuristic bias sampling-based indoor environment robot exploration method, comprising: (A) initialization; (B) positioning and mapping; (C) performing the extraction of boundary points by using two rapidly-exploring random trees (RRTs) and denoting same as RRT boundary points, extracting, within a prior region, boundary points by means of a bias sampling RRT algorithm and denoting same as room boundary points, and removing invalid boundary points in the RRT boundary points and room boundary points; (D) a robot preferentially selecting a room boundary point having the largest earnings value as a target point for exploration, and after exploration of all of the room boundary points is completed, preferentially selecting an RRT boundary point having the largest earnings value as a target point for exploration; (E) guiding the robot to navigate to the target points and update a map; (F) when no boundary point is detected in the prior region, destroying the prior region; and (G) repeating steps A-F until the entire environment exploration is completed. Said method can effectively reduce backtracking during exploration and increases exploration efficiency.

CHI WENZHENG (CN)
LIU JIE (CN)
LV YONG (CN)
YUAN YUAN (CN)
CHEN GUODONG (CN)
SUN LINING (CN)

PCT/CN2022/100861

February 16, 2023

June 23, 2022

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UNIV SOOCHOW (CN)

G05D1/02

CN113485375A	2021-10-08
CN113110482A	2021-07-13
CN112833904A	2021-05-25
CN113064426A	2021-07-02
CN109341707A	2019-02-15
CN108762270A	2018-11-06
CN113050632A	2021-06-29
US20200387163A1	2020-12-10
US20210065060A1	2021-03-04
JP2014073550A	2014-04-24

CENTRAL SOUTH WELL INTELLECTUAL PROPERTY OFFICE (CN)

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