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1.发明授权公开(公告)号：US12228941B2
公开(公告)日：2025-02-18
申请号：US18464917
申请日：2023-09-11
Applicant: DALIAN UNIVERSITY OF TECHNOLOGY
Inventor： Xin Yang , Xuefeng Yin , Baocai Yin , Xiaopeng Wei
Abstract: The present invention proposes an active scene mapping method based on constraint guidance and space optimization strategies, comprising a global planning stage and a local planning stage; in the global planning stage, the next exploration goal of a robot is calculated to guide the robot to explore a scene; and after the next exploration goal is determined, specific actions are generated according to the next exploration goal, the position of the robot and the constructed occupancy map in the local planning stage to drive the robot to go to a next exploration goal, and observation data is collected to update the information of the occupancy map. The present invention can effectively avoid long-distance round trips in the exploration process so that the robot can take account of information gain and movement loss in the exploration process, find a balance of exploration efficiency, and realize the improvement of active mapping efficiency.
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