Reverse movement navigation method in omnidirectional mobile robot channel

A navigation method and omnidirectional movement technology, which is applied in the field of robot motion planning and navigation, can solve problems such as unsuitable channel environment and unreasonable travel path planning, and achieve the problem of reverse navigation of mobile robots, which is easy to implement and has strong adaptability Effect

Active Publication Date: 2017-08-18
重庆恒盛德科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this method only considers the local environment features instead of the entire channel information for navigation, which will lead to unreasonable planning of the travel path and is not suitable for the channel environment

Method used

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  • Reverse movement navigation method in omnidirectional mobile robot channel
  • Reverse movement navigation method in omnidirectional mobile robot channel
  • Reverse movement navigation method in omnidirectional mobile robot channel

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

[0046] The reverse navigation method in the channel of the omnidirectional mobile robot of this embodiment includes the following steps:

[0047] Step 1: Control the robot to complete the forward movement in the channel, and estimate the current position information of the robot according to the encoder.

[0048] Such as figure 1 As shown, M is the geometric center position of the car, record the horizontal distance from the geometric center of the robot to the wheel as a, the longitudinal distance as b, and the current geometric center speed of the robot as v m , the velocity component in the horizontal direction is v mx , the component in the vertical direction is v my , the ...

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Abstract

The present invention discloses a reverse movement navigation method in an omnidirectional mobile robot channel. The method comprises the following steps: the step 1: controlling a robot to move forwards in a channel, and estimating the current position information of the robot according to an encoder; the step 3, employing real-time data obtained by a laser radar in the robot movement process to generate a local map; the step 3, splicing the local map according to the real-time position of a dolly and the obtained local map, and obtaining the global map of the channel; the step 4: employing the least square method to fit two side boundaries of the channel according to the generated global map, and obtaining a track lime suitable for the travel of the dolly through calculation; the step 5, allowing the robot to start reverse movement, allowing the laser radar to collect real-time data to generate the local map, matching the local map and the global map, and obtaining the current position information of the dolly; and the step 6, performing pose regulation according to the deviation between the current position information of the robot and the track line to keep the robot to follow the track line.

Description

technical field [0001] The invention belongs to the technical field of robot motion planning and navigation, and specifically relates to a reverse navigation method in a passage of an omnidirectional mobile robot, which is suitable for guiding a robot to complete backward travel according to environmental information in a warehouse passage scene. Background technique [0002] The omnidirectional mobile robot has three degrees of freedom in the plane space, and can move forward and backward, left and right, and rotate in situ at the same time, and move in any direction without changing its own posture. Due to the high mobility and flexibility of the robot, it has a wide range of applications in scenes requiring high precision. Especially the narrow warehouse aisle environment is a typical working scene for this robot. [0003] There are goods on both sides of the warehouse aisle, and the robot needs to travel along the aisle to complete the positioning and inventory of the w...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/0257G05D1/0276G05D2201/0216
Inventor 孙棣华赵敏程森林秦浩
Owner 重庆恒盛德科技有限公司
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