A Robot Autonomous Pathfinding Method Based on Laser Ranging

Abstract

The invention provides a robot automatic road finding method based on laser ranging, and relates to the technical field of robot road finding. The method includes the steps of firstly, establishing a polar coordinate system with the geometric center of a robot as the pole; secondly, expanding a barrier according to the radius R and the safety distance D of the robot; thirdly, setting the adaptive threshold value, conducting sector division and adjusting the speed. According to the method, the polar coordinate system is established with the center of the robot as the pole, and therefore data obtained through laser ranging can be conveniently and directly used, and a large amount of operation and data invisible loss caused by coordinate transformation are avoided. The running speed of the robot is adjusted according to the surrounding environment, and the running safety is ensured. The surrounding environment is sensed through laser ranging, and when the front road is narrow or the robot is close to a front barrier, the adaptive threshold value is changed, the running speed of the robot is adjusted, and therefore safety is ensured.

Description

Technical field: [0001] The invention relates to a path-finding technology for a robot, in particular to a method for guiding a robot to find a drivable path in an obstacle space based on laser ranging. Background technique: [0002] In recent years, robots such as smart cars have become a research hotspot. Laser ranging is widely used in robot path planning systems. Laser ranging has many incomparable advantages over other sensors, such as high precision, high resolution, long detection distance, wide field of view and good stability, and its working performance is not affected by lighting conditions, and it has good environmental recognition ability. [0003] The patent "A Method for Obstacle Avoidance of Mobile Robot Based on Laser Rangefinder (CN102541057A)" provides an obstacle avoidance method. This method establishes the robot coordinate system, takes the current position of the robot as the center of the circle, and simulates laser emission of N rays at the origin ...

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the problems that the existing methods cannot find the driving direction and may produce unsatisfactory instantaneous target points in the dense environment of obstacles, the present invention provides a robot pathfinding method based on laser ranging, which not only can The strategy can accurately find the driving direction, and the robot's driving speed can be adjusted according to the robot's working environment to avoid collisions when narrow passages and obstacles are close

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