METHOD OF LOCALIZING AND CONSTRUCTING NAVIGATION MAPS OF MOBILE SERVICE ROBOT Russian patent published in 2021 - IPC G05D1/02 G05D3/00 G01C3/00 G01C7/00 G06T1/00 G01C21/04 

FIELD: physics.

SUBSTANCE: invention relates to robotics. In the method of localizing and constructing navigation maps of a mobile service robot operated in a room, correcting the current coordinates of the robot and the trajectory traversed using stationary light-reflecting beacons with a RFID tag mounted on each of the beacons. Constructing the sub-map of obstacles in a specific position of the robot and updating layers of the constructed sub-map using the RGB-D camera. Obtaining the sub-map of obstacles to the coordinates system of the room according to the trajectory traversed. When the robot moves to the specified threshold value, a new sub-map of obstacles is constructed and the layers of the sub-map are updated. Combining the sub-map of obstacles in the obstacle map after construction of each new sub-map of obstacles. Global map is then constructed using the SLAM map data, the static map and taking into account the obstacle map data.

EFFECT: higher accuracy of robot coordinates determination.

1 cl, 8 dwg