Autonomous navigation and obstacle avoidance system and method of indoor mobile robot

Abstract

The invention provides an autonomous navigation and obstacle avoidance system and a method of an indoor mobile robot. The system comprises a wireless sensor network and a mobile robot; the wireless sensor network comprises Cricket sensor beacons, Cricket sensor receiving nodes and ultrasonic sensor nodes; indoor environment is divided into several grids; the ultrasonic sensor nodes are deployed on a ceiling according to set grids; meanwhile four or more Cricket sensor beacons are deployed randomly; an external communication module of a mobile robot master control one-chip microcomputer is connected with the Cricket receiving nodes; a segment maximum likelihood centroid algorithm is employed to locate the robot, establish a three-dimensional environment map and a grid map and construct path grids; and a global path is programmed based on an expansion algorithm and a Dijkstra algorithm. According to the invention, a sensor network with global monitoring capability is employed and introduced into indoor and dynamic environment navigation for robot, and has advantages of accurate positioning, rapid environment modeling and reasonable path programming.

Description

technical field [0001] The invention relates to the field of wireless sensor networks, in particular to an autonomous navigation and obstacle avoidance system for an indoor mobile robot based on a wireless sensor network. Background technique [0002] Wireless sensor networks use a large number of densely distributed nodes to work together, and have the characteristics of dynamic self-organization, high reliability, and data-centricity. It is a research hotspot in the current information field. With the development of sensor networks and wireless technology, sensor networks have been widely used in the fields of industry, monitoring and security. Researchers have begun to discuss how to use sensor networks for robot navigation. The key problem of robot navigation based on sensor network is to make the robot accurately locate, carry out environment modeling, avoid obstacles, and reach the target area smoothly. [0003] At present, there are many classifications of indoor pos...

AI Technical Summary

Problems solved by technology

In terms of path planning, the visualization method uses a straight line to connect the fixed points of the robot, the target point and the obstacle to form a path map; the artificial potential field method regards the movement of the robot in the working environment as a virtual artificial force field. The motion in the algorithm is simple in mathematical description, but the algorithm has a large amount of calculation and is easy to fall into local minimum

Images