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Robot navigation positioning system and method

A technology of navigation and positioning and robots, which is applied in the field of robot navigation and positioning systems, can solve problems such as imperfect path planning and obstacles, and achieve the effect of improving ease of use and ensuring smoothness

Inactive Publication Date: 2019-07-02
BEIJING ORIENT XINGHUA TECH DEV CO LTD
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  • Abstract
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AI Technical Summary

Problems solved by technology

At present, the technology still has the problem of imperfect path planning in the case of obstacles and dynamic changes in the environment.

Method used

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  • Robot navigation positioning system and method
  • Robot navigation positioning system and method

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Embodiment Construction

[0067] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments to further understand the purpose, solution and effect of the present invention, but it is not intended to limit the scope of protection of the appended claims of the present invention.

[0068] Such as figure 1 as well as Figure 2a , Figure 2b As shown, the robot 10 includes a fixed plate 100 , a traveling mechanism 200 , a drive control mechanism 300 , a collision detection mechanism 400 , a laser radar mechanism 500 , a battery mechanism 600 and an expansion mechanism 700 . It should be noted that the figure shows a robot mobile platform, which can be connected with various robot functional components through the expansion mechanism 700 to form, for example, an educational robot, a home robot, a welcoming and guiding robot, a food delivery robot, and the like.

[0069] The robot navigation and positioning system ...

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Abstract

The invention discloses a robot navigation positioning system and method, which are used for map construction, positioning and path planning of a robot. The method comprises the following steps: S100,positioning is carried out, in the positioning step, the robot detects surrounding environment information through multiple sensors, and later, based on an adaptive particle filtering SLAM algorithmand in match with different odometers, real-time map construction and positioning are completed; and S200, path planning is carried out, in the path planning step, a two-phase hybrid state A*-based path planning algorithm is adopted, after a path length and the number of extended nodes are obtained when path planning is carried out on a rasterized map, a higher rasterized map is obtained through parsing and extension, and the acquired path length and the acquired number of extended nodes are used as input of fuzzy reasoning, a heuristic weight is obtained through fuzzy reasoning and is used asinput of search of a second stage, and path planning is performed on a higher rasterized map. The system and the method disclosed in the invention can not only adapt to different environments but also can perform dynamic path planning.

Description

technical field [0001] The invention relates to a robot navigation and positioning system and method, in particular to a robot navigation and positioning system and method which are adaptable to different environments and have dynamic path planning. Background technique [0002] An idealized and perfect mobile service robot system usually consists of four parts, which are mobile mechanism, functional mechanism, perception system and control system. [0003] The mobile mechanism provides the mobile function for the robot. Common mobile mechanisms include wheel mechanisms, crawler mechanisms, joint mechanisms, and hybrid mechanisms. The functional mechanism is used by the robot to realize various service functions, such as nursing, handling, etc., and the common form is a mechanical arm. The perception system is composed of various sensors to collect information about itself and the external environment for the service robot. Commonly used sensors on service robots include c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/20G05D1/0234G05D1/0255G05D1/0257G05D1/0274
Inventor 刘彤李占军林震岳
Owner BEIJING ORIENT XINGHUA TECH DEV CO LTD
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