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Robot navigation method and device based on multi-sensor data fusion

A data fusion and multi-sensor technology, applied in two-dimensional position/channel control, instruments, motor vehicles, etc., can solve problems such as poor navigation effect

Inactive Publication Date: 2017-05-17
BEIHANG UNIV
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  • Application Information

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Problems solved by technology

[0005] The embodiment of the present invention provides a robot navigation method and device based on multi-sensor data fusion, which is used to solve the technical problem of poor autonomous navigation effect of existing robots

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Embodiment Construction

[0020] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] For the sake of clarity, definitions of certain words or phrases used in the present invention are first set forth.

[0022] Lidar: Provides distance information from the robot to obstacles in the surrounding environment, usually a two-dimensional slice of the surrounding environment. It can be used for map construction, positioning, real-time obstacle avoidance, etc. High precision, high stability, low noise and high cost. The visible d...

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Abstract

The invention provides a robot navigation method and device based on multi-sensor data fusion. The method comprises the following steps: establishing a map of a total environment according to data acquired by a laser radar sensor and data of an encoder; acquiring the current position of a robot in the map of the total environment in real time according to data acquired by a laser radar sensor, an accelerometer sensor, a gyroscope sensor and a magnetometer sensor, the map of the total environment and the data of the encoder; acquiring a planned route of the robot from the current position to a targeted position in real time according to the map of the total environment and the current position of the robot; and controlling the robot to keep away from barriers during movement by the data which are acquired by the laser radar sensor, a deep camera, an ultrasonic sensor and an infrared sensor and the data of the encoder. On the basis of reasonable utilization of the sensors to realize navigation of the robot, the method is flexibly applied to various scenes, costs are considered, and the autonomous navigation effect can be achieved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of artificial intelligence, and in particular, to a method and device for robot navigation based on multi-sensor data fusion. Background technique [0002] Robot autonomous navigation technology is a popular technology in the field of intelligent robots. Through autonomous navigation technology, robots can move intelligently in the environment to complete tasks such as guidance, handling, and interaction. Therefore, autonomous navigation technology is the basis for robots to become intelligent, and robots that cannot move autonomously cannot be called intelligent robots. [0003] The existing robot autonomous navigation technology can be roughly divided into two categories: one is active autonomous navigation technology, and the other is passive autonomous navigation technology. Active autonomous navigation technology means that the robot needs to rely on external equipment to realize ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0242G05D1/0246G05D1/0255G05D1/0257
Inventor 李建欣王皓悦张扬扬张日崇怀进鹏
Owner BEIHANG UNIV
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