Moving robot obstacle avoiding method based on laser range finder

Abstract

The invention relates to a moving robot obstacle avoiding method based on a laser range finder, which comprises the following steps: building the coordinate system of the robot; with the current location of the robot as a center of a circle, simulating laser transmission at the origin of coordinates to transmit N laser beams of which the directions are determined as candidate directions of the motion of the robot; dividing laser information into groups, selecting an obstacle point in each group, and mapping the obstacle point into the coordinate system of the robot; expanding the robot into acircle with a radius of R, drawing two tangent lines of the circle through one obstacle point, working out the range of the candidate directions in which the robot can go across the obstacle point according to the included angles of the tangent lines and an X-axis, and getting the direction in which the robot can go across the obstacle point; defining a cost function to evaluate all feasible directions, and selecting the optimal direction of the next circle of motion of the robot; and working out the linear speed and angular speed of the robot by using a speed control policy. According to themethod, the robot can avoid an obstacle in an unknown environment, and has high performance; and without deeper theoretical foundation, the method is simple, smart, easy to understand and practical, requires small calculation, and is particularly suitable to use.

Description

technical field [0001] The invention relates to an obstacle avoidance technology for a mobile robot, in particular to an obstacle avoidance method for a mobile robot based on a laser range finder. Background technique [0002] In recent years, laser range finders have been used more and more widely in robot navigation systems. The main reason is that the laser rangefinder measurement technology has many advantages, especially the advantages of high precision, high resolution, wide field of view, not affected by strong light, and can work in the dark, which provides good conditions for autonomous navigation robots. environment recognition ability. Among the methods for mobile robot obstacle avoidance using laser ranging sensors, artificial potential field method and vector field histogram method are more commonly used. As the prototype of the local obstacle avoidance navigation method, the artificial potential field method has made positive contributions to promoting the re...

AI Technical Summary

Problems solved by technology

A weakness of this method is that it is sensitive to the threshold. If the threshold is too small, some feasible channels will be ignored. If the threshold is too large, it may cause the danger of collision with obstacles.

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