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Omnidirectional mobile robot autonomous navigation apparatus and method based on laser range finder

A laser rangefinder, mobile robot technology, applied in three-dimensional position/channel control and other directions, to achieve the effect of improving accuracy, avoiding control delay, and reducing matching failures

Pending Publication Date: 2017-02-15
SUN YAT SEN UNIV
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Problems solved by technology

In addition, when the environment tends to be complex or dynamically changing, how to make the robot's path globally optimal or suboptimal, and how to avoid oscillation and deadlock of the planned path are still problems to be solved.

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  • Omnidirectional mobile robot autonomous navigation apparatus and method based on laser range finder

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Embodiment Construction

[0025] The accompanying drawings are for illustrative purposes only, and should not be construed as limitations on this patent; in order to better illustrate the present embodiment, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art It is understandable to the artisan that certain well-known structures and descriptions thereof may be omitted from the drawings. The positional relationships described in the drawings are only for exemplary illustration, and should not be construed as a limitation on the present patent.

[0026] like figure 1 As shown, an autonomous navigation device for an omnidirectional mobile robot based on a laser range finder, which includes an encoder for measuring the moving distance of the wheel of the mobile robot, an inertial measurement unit for measuring the rotational angular velocity and acceleration of the mobile robot, the encoder and the T...

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Abstract

The invention relates to the technical field of mobile robot autonomous navigation and particularly relates to an omnidirectional mobile robot autonomous navigation apparatus and method based on a laser range finder. The omnidirectional mobile robot autonomous navigation apparatus based on the laser range finder comprises an encoder for measuring the movement distance of wheels of a mobile robot, and an inertia measurement unit for measuring the rotation angular velocity and the acceleration of the mobile robot. The encoder and the inertia measurement unit are connected with a controller. The omnidirectional mobile robot autonomous navigation apparatus also comprises the laser ranger finder which is connected with a host computer. The host computer is connected with the controller, and the controller is connected with an execution unit. The invention utilizes the laser range finder to position the mobile robot, establishes a two-dimensional planar map of the environment, carries out autonomous navigation according to a target task, and achieves autonomous obstacle avoidance in the movement.

Description

technical field [0001] The present invention relates to the technical field of autonomous navigation of mobile robots, and more particularly, to an autonomous navigation device of an omnidirectional mobile robot based on a laser range finder and a method thereof. Background technique [0002] Intelligent mobile robots can move autonomously in unknown or partially unknown environments, and have functions such as environmental perception, behavior planning, dynamic decision-making, and decision-making. Robots usually need to solve three problems in the process of autonomous movement, namely the positioning problem of the robot, the task planning problem of the robot and the behavior planning problem of the robot. Due to the lack of prior map information in an unknown environment, mobile robots need to obtain surrounding environmental information through sensors such as on-board laser rangefinders, monocular, and binocular cameras to build an environmental map and estimate the ...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/10Y02P90/02
Inventor 成慧朱启源
Owner SUN YAT SEN UNIV
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