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Robot positioning and navigation method, device and equipment based on laser radar

A robot positioning and lidar technology, applied in the field of robot navigation, can solve the problems of difficulty in updating robot maps and easy loss of control in robot navigation, so as to achieve the effects of ensuring authenticity, avoiding loss of control and eliminating noise.

Active Publication Date: 2021-08-10
陈岳明
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the difficulty in updating the robot map in the prior art and the problem that the robot is easy to lose control when navigating, this application mainly provides a laser radar-based robot positioning and navigation method, device and equipment

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  • Robot positioning and navigation method, device and equipment based on laser radar
  • Robot positioning and navigation method, device and equipment based on laser radar
  • Robot positioning and navigation method, device and equipment based on laser radar

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Embodiment Construction

[0021] The preferred embodiments of the application will be described in detail below in conjunction with the accompanying drawings, so that the advantages and features of the application can be more easily understood by those skilled in the art, so as to define the protection scope of the application more clearly.

[0022] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elemen...

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Abstract

The invention discloses a robot positioning and navigation method, device and equipment based on laser radar, and belongs to the field of robot navigation. The method comprises the steps of filtering noise data in laser data collected by a laser radar according to a robot body structure to obtain effective laser data; matching and fusing the effective laser data and the original environment map to construct an updated environment map; optimizing the updated environment map by using a map optimization algorithm to obtain the current position of the robot in the optimized map; and calculating a planned path of the robot from the current position to the target position in the optimization map, discretizing and optimizing the planned path to obtain a path discrete point set, calculating the execution speed of the path discrete point set, and driving the robot according to the path discrete point set and the execution speed. According to the method, a graph optimization algorithm and a planned path are adopted, so that the solution efficiency of map updating is greatly improved, the robot can bypass in a large scale when encountering an obstacle, and the robot is prevented from losing control.

Description

technical field [0001] The present application relates to the field of robot navigation, in particular to a laser radar-based robot positioning and navigation method, device and equipment. Background technique [0002] At present, most of the existing robot positioning and navigation on the market follow fixed routes such as reflectors or preset magnetic strips. Most of the autonomous positioning and navigation that has appeared recently also drives strictly according to the preset fixed trajectory. When random obstacles appear on the forward route, it is difficult to deal with them. The safer way is to use the parking method and wait until the random disturbance disappears. Then continue to travel along the original preset route. The biggest problem with this method is that it cannot adapt to changing circumstances and cannot guarantee operational efficiency. [0003] In addition, in the constructed map, if random obstacles appear, the map update will also become a comput...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/89G01S17/93G01S17/931
CPCG01S17/89G01S17/93G01S17/931Y02T10/40
Inventor 陈岳明
Owner 陈岳明
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