Reverse movement navigation method in omnidirectional mobile robot channel

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...

AI Technical Summary

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

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