Robot urban navigation system based on combination of visual SLAM and network map

Abstract

The invention provides a robot urban navigation system based on the combination of visual SLAM and a network map. The system performs the further local obstacle avoidance path optimization of an urbanroad navigation path with the help of the environment object space occupying condition, obtained through the SLAM processing, of a region where a wheel-type robot is located on the basis of an urbanroad navigation path that is determined through global path planning and along which the wheel-type robot in the network map arrives at a target place, thereby overcoming multiple technical limits anddefects of the navigation control of the wheel-type robot, only employing the global path planning, through the combination of the visual SLAM and the network map. The system can provide a finer positioning and path navigation for the wheel-type robot, and better guarantees that the wheel-type robot passes along the urban road navigation path after the local obstacle avoidance path optimization,and then better guarantees the path planning and navigation accuracy and passing effectiveness of the wheel-type robot.

Description

technical field [0001] The invention relates to the field of robot navigation path planning technology and visual SLAM processing technology, in particular to a robot city navigation system based on the combination of visual SLAM and network map. Background technique [0002] Navigation technology has always been a key research technology in the field of mobile robots. It is closely related to technologies such as robot positioning, 3D map reconstruction, and path planning. Among the hottest autonomous driving application technologies at present, the path planning and navigation of wheeled robots is an important technical component. Path planning refers to planning an optimal collision-free path from the starting point to the target point for a wheeled robot in an environment containing obstacles according to certain performance indicators or requirements. In the actual operation process, there are often problems such as a large amount of environmental information, rapid c...

AI Technical Summary

Problems solved by technology

[0004] However, global path planning can usually only be applied to environments with static obstacles or known environmental information

When the obstacles in the environment are constantly moving, or when an accurate prior map cannot be obtained in advance, global path planning will no longer work.

In addition, the global positioning system (Global Positioning System, GPS) used in global path planning will be helpless for indoor or obstacle-complex environments. In addition, it will not be able to obtain real-time positioning of the robot's traffic-level accuracy and provide environmental on-site obstacles. object information

These limitations limit the accuracy and effectiveness of relying solely on global path planning for path planning and navigation of wheeled robots, often resulting in the inability of wheeled robots to truly and effectively follow the navigation path

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