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Mobile robot navigation control method based on laser data

A mobile robot and control method technology, applied in two-dimensional position/channel control, non-electric variable control, control/regulation system, etc., can solve the problems of inflexible robot operation routes, heavy workload, and complex ground construction. Achieve the effect of low cost, accurate navigation control and simple operation

Inactive Publication Date: 2017-05-17
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method needs to pre-set the inspection route of the inspection robot, and then lay a magnetic track on the running route, and pre-set the RFID mark at the position where the robot stops. There are problems such as complex ground construction, heavy workload, and inflexible robot running route.

Method used

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  • Mobile robot navigation control method based on laser data
  • Mobile robot navigation control method based on laser data
  • Mobile robot navigation control method based on laser data

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Embodiment Construction

[0041] The present invention will be further elaborated below in conjunction with the accompanying drawings and specific embodiments, so as to better understand the present invention. The technical features of the present invention can be combined with each other if there is no conflict.

[0042] In this embodiment, the mobile robot is not limited in structure and type, but the left wheel and right wheel used for driving need to be able to adjust the wheel speed respectively. Its front end is equipped with a laser sensor for scanning the surrounding environment, and the connection line between the center of the laser sensor and the center point of the mobile robot is consistent with the direction of travel of the robot.

[0043] A navigation control method for a mobile robot based on laser data, comprising the following steps and sub-steps:

[0044] Step 1: Add and set the path in the global map, specific sub-steps:

[0045] Step 1.1: First build a client for controlling the...

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Abstract

The invention discloses a mobile robot navigation control method based on laser data, comprising the steps of 1, adding and setting a path in a global map; 2, acquiring real-time positioning information of a mobile robot through iterative matching algorithm; 3, planning a shortest path required by navigation of the mobile robot through shortest path algorithm; 4, navigating the mobile robot to run along the planned path through left and right wheel differential speed control; 5, enabling the mobile robot to park accurately at a target parking point on the path through deceleration control. The mobile robot navigation control method based on laser data has the advantages that data acquisition is simple and needs no extra laying of a landmark, the cost is low, positioning precision is high, and the mobile robot is allowed to be autonomously positioned and navigate-controlled in indoor and outdoor environments.

Description

technical field [0001] The invention belongs to the field of intelligent robot navigation, in particular to a laser data-based mobile robot navigation control method. Background technique [0002] In the field of robot research, robot navigation technology develops rapidly. With the advancement of the times and the continuous improvement of the level of science and technology, it is becoming more and more important to accurately locate the robot in the environment. Navigation includes a variety of different technologies and applications: data association, mapping algorithms, positioning algorithms and synchronization Positioning and map building, etc. Every step and detail can be picked up by different methods or sensors. [0003] Mobile robot navigation methods can be mainly divided into two types: one is map-based navigation method, and the other is map-less navigation method. Map-based navigation methods mainly construct maps through automatic or semi-automatic methods...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0236
Inventor 于慧敏奚婉
Owner ZHEJIANG UNIV
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