Intelligent obstacle avoidance method for robot based on three-dimensional laser
A robot intelligence, three-dimensional laser technology, applied in the field of robots, to achieve the effect of improving real-time performance and accuracy, and effectively avoiding obstacles
Inactive Publication Date: 2019-01-04
YIJIAHE TECH CO LTD
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[0006] Purpose of the present invention: In order to solve the problem of 2D laser radar to scan the environment for obstacle avoidance, provide a robot intelligent obstacle avoidance method based on three-dimensional laser
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[0055] This embodiment introduces a robot intelligent obstacle avoidance method based on three-dimensional laser, the specific steps are as follows figure 1 Shown:
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The invention provides an intelligent obstacle avoidance method for a robot based on three-dimensional laser, and relates to the field of robots. According to the invention, laser point cloud data ina three-dimensional laser plane emitted by a three-dimensional laser sensor is mapped into two-dimensional laser point cloud data, characteristic laser point cloud data corresponding to an obstacle isextracted by using the Euclidean clustering method, position and size information of the obstacle is calculated according to the extracted characteristic laser point cloud data, and finally the obstacle avoidance path of the robot is planned by using the cubic Bezier curve so as to realize effective obstacle avoidance of the robot. According to the obstacle avoidance method provided by the invention, the robot can obtain information of an unknown obstacle, and the timeliness and accuracy of obstacle avoidance navigation of the robot are improved.
Description
technical field [0001] The invention relates to the field of robots, in particular to a three-dimensional laser-based intelligent obstacle avoidance method for robots. Background technique [0002] Obstacle avoidance means that the mobile robot, according to the state information of the collected obstacles, senses the static and dynamic objects that hinder its passage through the sensor during the walking process, and effectively avoids obstacles according to a certain method, and finally reaches the target point. The basis for autonomous navigation. The necessary condition for obstacle avoidance and navigation is environmental perception. Obstacle avoidance in unknown or partially unknown environments requires sensors to obtain surrounding environment information, including information such as the size, shape, and position of obstacles. Therefore, sensor technology plays an important role in mobile robot avoidance. play a very important role in barriers. The sensors used ...
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IPC IPC(8): G05D1/02
CPCG05D1/0238
Inventor 林欢程敏王锋毛成林项导
Owner YIJIAHE TECH CO LTD
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