Robotic Navigation Map Construction with Ultra-High Resolution Volumetric Grid

Authors

Bingchuan Jiang, Institute of Geospatial Information, Information Engineering University, Zhengzhou 450001, China;
Wan Gang, Institute of Geospatial Information, Information Engineering University, Zhengzhou 450001, China;
Li Feng, Institute of Geospatial Information, Information Engineering University, Zhengzhou 450001, China;
Zhang wei, Institute of Geospatial Information, Information Engineering University, Zhengzhou 450001, China;
Zhenfa Yang, Institute of Geospatial Information, Information Engineering University, Zhengzhou 450001, China;

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.

Recommended Citation

Jiang, Bingchuan; Gang, Wan; Feng, Li; wei, Zhang; and Yang, Zhenfa (2020) "Robotic Navigation Map Construction with Ultra-High Resolution Volumetric Grid," Journal of System Simulation: Vol. 29: Iss. 11, Article 16.
DOI: 10.16182/j.issn1004731x.joss.201711016
Available at: https://dc-china-simulation.researchcommons.org/journal/vol29/iss11/16

First Page

2709

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201711016

Last Page

2717

CLC

TP391.9

Recommended Citation

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.

DOI

10.16182/j.issn1004731x.joss.201711016