Map creation method for mobile robot and path planning method based on the map

Abstract

The present disclosure discloses a method for planning a path of a mobile robot including an odometer and a gyroscope. The method includes causing the mobile robot to move from an initial position to a point Pi or a point P′i, calibrating data of the odometer and/or the gyroscope at the point Pi or the point P′i, and repeating S′ 1 to step S′ 2 until arriving at a final target point.

What is claimed is: 
     
         1 . A method for planning a path of a mobile robot comprising an odometer and a gyroscope, the method comprising:
 S′ 1 : causing the mobile robot to move from an initial position to a point Pi or a point P′i;   S′ 2 : calibrating data of the odometer and/or the gyroscope at the point Pi or the point P′i; and   S′ 3 : repeating S′ 1  to step S′ 2  until arriving at a final target point.   
     
     
         2 . The method of  claim 1 , wherein S′ 1  further comprises:
 S′ 11 : obtaining coordinates of the initial position and coordinates of the final target point of the mobile robot; 
 S′ 12 : determining whether there is a point Pi or a point P′i in a rectangular area composed of the coordinates of the initial position and the coordinates of the final target point, if yes, entering step S′ 13 , if not, entering step S′ 14 ; 
 S′ 13 : causing the mobile robot to move to the point Pi or the point P′i closest to the initial position in the rectangular area, and then entering step S′ 15 ; 
 S′ 14 : causing the mobile robot to move to the point Pi or point P′i closest to the initial position in the working area, and then entering step S′ 15 ; and 
 S′ 15 : determining whether there is the point Pi or point P′i in a rectangular area composed of the coordinates of a current position and the coordinates of the final target point, if yes, returning to step S′ 13 , if not, moving to the final target point. 
 
     
     
         3 . The method of  claim 1 , wherein S′ 2  further comprises:
 S′ 21 : acquiring a picture of the mobile robot at the point Pi or the point P′i; 
 S′ 22 : extracting features of the picture and matching features with a picture saved at the point Pi or the point P′i; and 
 S′ 23 : calibrating the data of the odometer and/or the gyroscope of the mobile robot at the point Pi or the point P′i according to a matching result. 
 
     
     
         4 . The method of  claim 3 , wherein at S′ 22 , the features of the picture are extracted and matched with the picture saved at the point Pi or the point P′i according to an ORB algorithm. 
     
     
         5 . The method of  claim 1 , wherein the final target point includes an area the mobile robot does not pass through, a position of a charging base, and a starting point of the mobile robot.