Autonomous exploration framework for indoor mobile robotics using reduced approximated generalized Voronoi graph

US11567502B2 · kind B2 · utility

Assignee

• Wuhan University · CN

Inventors

• Lin Li · Shanghai, CN
• Xinkai Zuo · 红钢城街道, CN
• Haihong Zhu · Sunnyvale, US
• Shen Ying · 红钢城街道, CN
• Fan Yang · Redwood City, US
• Fei Su · Beijing, CN
• Yifan Liang · 红钢城街道, CN
• Gang Zhou · Berkeley Heights, US

Key dates

• Filing date: Aug 17, 2020
• Grant date: Jan 31, 2023
• Expiry date: Jun 11, 2041

Classification

• Technology area (CPC G): Physics
• CPC primary: G05D1/0257
• WIPO field: Control
• WIPO sector: Instruments

Abstract

An autonomous robotic exploration method based on a reduced approximated generalized Voronoi graph, the method including: 1) constructing a reduced approximated generalized Voronoi topological map based on a morphological method; 2) obtaining an Next-Best-View and planning a global path from the robot to the Next-Best-View; and 3) navigating to the Next-Best-View along the global path R={r0, r1, r2, . . . , pNBV} based on a visual force field (VFF) algorithm.