Method and autonomous mobile robot for generating indoor map

摘要

A method for generating an indoor map and an autonomous driving robot for the same are disclosed. The indoor map generation method includes the steps of starting driving indoors, acquiring peripheral shape data using a lidar sensor, acquiring peripheral shape data while driving, and analyzing the peripheral shape data acquired in real time. Determining a point, setting the determined main point as a node, connecting the set nodes with a line to create a host route, calculating the distance between the newly created new node and the preset node according to the determination of the new main point. Step, if there is a preset node whose calculated distance is less than or equal to a preset threshold distance, determining that a new node is duplicated at a location of a preset node less than or equal to the critical distance to form a loop closure, closed loop According to the formation, the preliminary traveling route and the presumed traveling route are not intersected with each other, and when the driving is completed, generating an indoor map using the acquired surrounding shape data.