Provided are a map creation method for a mobile robot and a path planning method based on the map, wherein the map creation method comprises: S1: Establishing a rectangular coordinate system in a work area of a mobile robot; S2: The mobile robot traveling orthogonally in a rectangular "S" shaped route in the work area; S3: Acquiring a key frame image of the mobile robot at a point Pi and saving the image and coordinates of the point Pi; S4: Acquiring an image of the mobile robot at a point P'i, wherein a horizontal coordinate or vertical coordinate of the point P'i is the same as that of the point Pi; S5: Performing, according to an ORB algorithm, feature extraction and matching on the images acquired at the point Pi and the point P'i; S6: Correcting, according to a matching result, the coordinates of the mobile robot at the point P'i and data of an odometer and/or a gyroscope and saving the same; S7: Repeating steps S3 to S6 until a map of the work area has been successfully created. The method uses an ORB algorithm to correct map coordinates of a mobile robot and data of an odometer and/or a gyroscope, thereby reducing cumulative errors of coordinates and angles, and improving the precision of a map.
展开▼
