An intelligent navigation method and system suitable for non-omnidirectional moving vehicles

An intelligent navigation, non-omnidirectional technology, applied in the field of intelligent navigation of mobile vehicles, can solve problems such as large-scale indoor environments that have not been considered for application, and achieve the effects of collision avoidance and vehicle safety

Active Publication Date: 2018-02-13
江苏旭美特环保科技有限公司
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Problems solved by technology

Current research on unmanned vehicles focuses on its application in outdoor environments, and does not consider its application in large-scale indoor environments such as exhibition halls and halls
On the other hand, it is technically difficult to apply vehicles to indoor environments, because global positioning methods such as GPS cannot be used, and indoor positioning and navigation technologies must be applied, which is difficult to achieve with traditional unmanned vehicle technology

Method used

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  • An intelligent navigation method and system suitable for non-omnidirectional moving vehicles
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  • An intelligent navigation method and system suitable for non-omnidirectional moving vehicles

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Embodiment Construction

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

[0044] figure 1 It is a schematic diagram of steps of an intelligent navigation method applicable to non-omnidirectional mobile vehicles of the present invention, as a specific embodiment of the present invention, such as figure 1 As shown, the present invention provides a kind of intelligent navigation method applicable to non-omnidirectional mobile vehicles, comprising:

[0045] Step 1 Scan the indoor environment, build a grid map, and establish a plane coordinate system;

[0046] Step 2 estab...

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Abstract

The invention provides an intelligent navigation method applicable to a non-omnidirectional moving vehicle. The intelligent navigation method comprises the following steps: step 1, scanning an indoor environment, establishing a grid map, and establishing a plane-coordinate system; step 2, establishing a vehicle motion cost map on the grid map; step 3, setting a target position of a vehicle, and converting the target position into coordinates on the grid map; step 4, acquiring real-time state information of the vehicle; and step 5, judging a vehicle state according to the target position and the real-time state information, and performing navigation on the vehicle according to the vehicle state and the motion cost map.

Description

technical field [0001] The invention belongs to the field of mobile robot navigation, in particular to an intelligent navigation method for mobile vehicles. Background technique [0002] With the advancement of the times and the continuous development of science and technology, robots are widely used in human production and life to assist or replace humans in completing some tasks with high repetitiveness, low technical content or relatively dangerous tasks, such as aerospace , industrial production, service, education, rescue, etc. Navigation is an important application in the field of service robots, and how to control the vehicle to reach the designated target point is a typical research topic. [0003] Unmanned vehicles can be regarded as a type of wheeled mobile robot. The current research on unmanned vehicles focuses on its application in outdoor environments, and does not consider its application in large-scale indoor environments such as exhibition halls and halls....

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00
CPCG01C21/00
Inventor 张小陈宗海王鹏章征贵
Owner 江苏旭美特环保科技有限公司
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