Map Building Method for Grain Warehouse Inspection Robot
Abstract：Introducing robots into grain warehouse inspection operations can not only improve work efficiency but also effectively ensure personnel safety. Using mobile robots to build a map of the grain warehouse environment, thus replacing manual inspection. In response to the problem of low mapping accuracy caused by particle degradation and loss of diversity in the traditional FastSLAM algorithm, an improved FastSLAM algorithm combined with HPO is proposed. By introducing the pursuit and escape strategy between hunters and prey to optimize the distribution of particles, the particles can converge more quickly to the robot's true pose state, thereby improving the mapping accuracy of the robot. Simulation experiments on the MATLAB platform verify the effectiveness of the algorithm. Finally, the improved algorithm was tested in a simulated grain warehouse environment. The results show that the improved algorithm has a high mapping accuracy.
Keywords：Mobile RobotGrain Warehouse InspectionMap BuildingStrategy Optimization
Publication Date：2025-08-25
Online Publishing Date：2025-09-12(First online date of this platform, not the publication date of the document)
Pages：7( 23-29 )