Abstract

This paper presents a method for quickly building navigation maps using building fire evacuation maps and doorplates. This paper uses image processing, robot navigation and other related technologies to realize the rapid conversion of fire evacuation maps into grid maps that can be applied to robot positioning and navigation. In addition, by extracting the doorplate in a fire evacuation map, a semantic map based on the doorplate is constructed. The global position of a robot is associated with the doorplate information on a floor. For the difficulty of robot positioning, this paper proposes a method of using doorplate semantics to realize robot positioning and navigation, combined with improvement in the A-star algorithm. Finally, the effectiveness and practicability of this research were verified by a simulation environment and experimental verification.

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