Mobile robot navigation method based on binocular camera and two-dimensional laser radar

Abstract

The invention discloses a mobile robot navigation method based on a binocular camera and a two-dimensional laser radar. The mobile robot navigation method includes the steps that a two-dimensional grid map model is built; a mobile-robot pose model is built; a laser radar data model is built; a joint calibration model of the binocular camera and the laser radar is established; route planning and obstacle avoidance navigation are carried out with the Dijkstra algorithm and the A-Star algorithm. According to the mobile robot navigation method, the relative position and the relative orientation ofthe binocular camera and the two-dimensional laser radar can be determined with the triangle joint calibration method; in the known-environment two-dimensional grid map environment, the binocular camera can be used for detecting barriers higher than and lower than the two-dimensional laser radar plane, the barriers can be mapped into an environment map, through the shortest path algorithm and heuristic search optimization, a navigation path line capable of avoiding the barriers is obtained, and a mobile robot can reach the destination along a path capable of avoiding the barriers in the movement process.

Description

technical field [0001] The invention relates to the technical field of mobile robot navigation, in particular to a mobile robot navigation method based on a binocular camera and a two-dimensional laser radar. Background technique [0002] With the high development of science and technology, the application fields of robot system are more and more extensive, such as industry, agriculture, medical treatment and so on. With the widespread application of robotic systems, intelligence has become an important direction of its development, and mobile robots use environmental maps to navigate is an important work in the field of intelligent robotics. [0003] In recent years, mobile robots have made gratifying achievements in many fields such as creating maps, tracking and positioning, autonomous planning, autonomous navigation, and autonomous obstacle avoidance in real environments. The basic theoretical basis of mobile robot navigation has been developed, and various implementati...

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to overcome the deficiency that the two-dimensional laser sensor can only detect obstacles on a single plane, and use the binocular camera to perform data fusion with the two-dimensional laser radar, so that the robot system can detect objects below and above the laser radar plane through the binocular camera. obstacles, a mobile robot navigation method based on a binocular camera and a two-dimensional laser radar is proposed, which can use the relative positions of the laser radar and the binocular camera calibrated in advance to map the different planes detected by the binocular camera The obstacles in the laser radar data model are mapped to the lidar data model as local environmental information. In the process of path planning, the obstacle data of the lidar and the obstacle data of the binocular vision system are considered at the same time.

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