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Method of backward navigation in the channel of omnidirectional mobile robot

A navigation method and omnidirectional moving technology, which is applied in the field of robot motion planning and navigation, can solve the problems of unreasonable travel path planning and unsuitable passage environment, etc. Effect

Active Publication Date: 2020-10-30
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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  • Method of backward navigation in the channel of omnidirectional mobile robot
  • Method of backward navigation in the channel of omnidirectional mobile robot
  • Method of backward navigation in the channel of omnidirectional mobile robot

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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 invention discloses a backward navigation method in an omnidirectional mobile robot channel, which includes the following steps: Step 1: Control the robot to complete forward movement in the channel, and estimate the current position information of the robot according to the encoder; Step 2: Move the robot forward During the process, the real-time data obtained by the lidar is generated into a local map; Step 3: According to the real-time position of the car and the real-time local map, splice the local maps to obtain a global map with complete channels; Step 4: Based on the generated global map, use the least square Multiply and fit the edges on both sides of the channel, and calculate the trajectory line suitable for the car's travel; Step 5: The robot starts to arrive, the lidar collects real-time data to generate a local map, matches the local map with the global map, and obtains the current location information of the car; Step 6: Adjust the posture according to the deviation between the robot's current position information and the trajectory line to keep the robot following the trajectory 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 Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/0257G05D1/0276
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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