A temporary obstacle handling method for laser slam navigation

Abstract

A temporary obstacle processing method for laser slam navigation, suitable for factory environments, characterized in that the method includes the following steps: S1, importing a positioned static map into the AGV, and using this map as the background map of the warning map ; S2, the occupied area and expansion area of ​​fixed obstacles are also displayed on the warning map; S3, two-level warning areas are set, including the first-level warning area and the second-level warning area; S4, the laser scanner detects obstacles, and based on the detection The result determines whether it is a fixed obstacle or a temporary obstacle, and displays the temporary obstacle detected by the laser scanner on the warning map; S5, detects that the AGV is in the human-computer interaction area or the AGV exclusive area, and when it is in the human-computer interaction area, the temporary obstacle The object is not processed, and when it is in the exclusive area of ​​the AGV, step S6 is executed; S6, based on the judgment result of step S4, the AGV selectively performs deceleration, stops or runs at the original speed.

Description

technical field [0001] The invention relates to laser slam navigation, in particular to a temporary obstacle processing method for laser slam navigation, which is suitable for factory environments. Background technique [0002] Automated Guided Vehicle (AGV) is the key equipment of modern logistics technology. As an automatic transportation equipment, the accuracy of AGV running along the predetermined trajectory in the automated workshop directly affects the normal operation of the entire workshop. With the development of the emerging market of automatic guided vehicles, there is a huge demand for AGVs with low cost and high control accuracy. The key factors that determine the performance of AGV have attracted great attention, and the path tracking control method is the key to ensure the control accuracy of AGV. [0003] In the prior art, a laser scanner has been used as a sensor for AGV positioning and navigation. Using the occupied grid map and corresponding path search ...

AI Technical Summary

Problems solved by technology

[0005] 1. In the factory environment, often not only a single AGV works, the bypass strategy of the AGV affected by temporary obstacles will affect the AGVs operating in the same area;

[0006] 2. For narrow and long passages, there is not enough space for AGV to go around;

[0007] 3. Repeated detours will easily cause the AGV to shake and run unstable

[0008] In addition, some work areas are human-computer interaction areas where the AGV and the operator work together. The behavior of the operator in this area is restricted or regulated. The existing technology has not differentiated the AGV's handling strategy for temporary obstacles in such areas. set up

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