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Omnidirectional moving platform navigation method

A technology of omnidirectional movement and navigation method, which is applied in the field of indoor mobile robot navigation, and can solve problems such as application limitations, low positioning accuracy, and lack of flexibility in paths

Active Publication Date: 2016-01-27
BEIJING INST OF SPECIALIZED MACHINERY
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AI Technical Summary

Problems solved by technology

Among these navigation methods, the reliability of ribbon recognition is not high, the positioning accuracy is low, and the route can only be driven according to the pasted path; the magnetic strip induction navigation application is mature, but there are difficulties in layout, transformation and maintenance, and the positioning accuracy is low, and the path lacks flexibility. ;Lidar navigation has the advantages of flexible walking path and high positioning accuracy in static and fixed environments, but its application in dynamic environments is limited

Method used

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Embodiment Construction

[0032] In order to make the purpose, contents and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0033] Such as figure 1 As shown, a kind of omnidirectional mobile platform navigation method of the present invention adopts a kind of omnidirectional mobile platform navigation system, such as figure 1 As shown, the system includes 4 mecanum wheel sets 3 (including servo drive motors), 4 iGPS receivers 1, industrial computer 2, motion controller 4 (uMac multi-axis controller), motor driver 5, Omnidirectional mobile platform frame 6.

[0034] 4 mecanum wheel drive wheel sets are used to realize the forward, backward, lateral movement, rotation and other compound movements of the platform; the industrial computer 2 includes a navigation processing module.

[0035] The navigation processing module reads the xml document, and establishes a topology map for ...

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Abstract

The invention, which belongs to the technical field of navigation, provides an omnidirectional moving platform navigation method being a novel method. According to the omnidirectional moving platform navigation method, iGPS global positioning data and measured motor rotation momentum of a motor encoder are obtained to carry out combined positioning, and a shortest path from a current position to a target position is searched in a topological map; after path searching completion, path tacking is carried out, a speed control instruction and a displacement control instruction are sent to a umac controller, and the umac controller controls the motor to make rotation, thereby completing autonomous driving of the omnidirectional moving platform and autonomous navigation. The method is implemented by real-time path searching; and the positioning precision is high and the adaptability is high.

Description

technical field [0001] The invention belongs to the technical field of navigation and relates to navigation of an indoor mobile robot, in particular to an autonomous navigation method of an omnidirectional mobile platform based on a mecanum wheel. Background technique [0002] At present, omnidirectional mobile platform navigation is mainly carried out by means of ribbon recognition, magnetic stripe induction, and laser radar. Among these navigation methods, the reliability of ribbon recognition is not high, the positioning accuracy is low, and the route can only be driven according to the pasted path; the magnetic strip induction navigation application is mature, but there are difficulties in layout, transformation and maintenance, and the positioning accuracy is low, and the path lacks flexibility. Lidar navigation has the advantages of flexible walking path and high positioning accuracy in static and fixed environments, but its application in dynamic environments is limit...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 李波李明段三军刘恩涛宋策
Owner BEIJING INST OF SPECIALIZED MACHINERY
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