Robotic Navigation Map Construction with Ultra-High Resolution Volumetric Grid

doi:10.16182/j.issn1004731x.joss.201711016

Abstract

Abstract: According to the requirements of specific application of robotic localization and navigation, a spatial modeling method of the robotic navigation map with ultra-high resolution volumetric grid model is proposed. The geographic spatial three-dimensional grid model is combined with the robotic navigation map and the consistency of spatial span, grid cell and data organization is analyzed. The characteristics of the robotic navigation map, the source and classification of the data, and the difference and relationship between SLAM are analyzed in detail. The robotic spatial data sets are discretized with the ultra-high resolution volumetric grid units as the data organization units. The integration management method of the spatial environment data is proposed and optimized. The unified coding and indexing of the environment space grid around the robot is conducted using the ultra-high resolution volumetric grid model, which achieves the spatial modeling of the environment around the robot and provides a uniform environment map model for the localization and navigation of mobile robot. The point clouds data from the robotic vision sensor demonstrates the feasibility of robotic navigation map construction with ultra-high resolution volumetric grid.

Key words: earth-lunar sphere shell space grid, ultra-high resolution volumetric grid, robotic navigation map, geographic spatial environment modeling, simultaneous localization and mapping

CLC Number:

TP391.9

Jiang Bingchuan, Wan Gang, Li Feng, Zhang wei, Yang Zhenfa. Robotic Navigation Map Construction with Ultra-High Resolution Volumetric Grid[J]. Journal of System Simulation, 2017, 29(11): 2709-2717.

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