Omnidirectional mobile robot autonomous navigation system based on VFH* local path planning method

An autonomous navigation system, local path planning technology, applied in the direction of control/regulation system, two-dimensional position/channel control, instrument, etc., can solve the obstacles that do not explicitly consider the geometric size of the robot, are not optimal, and cannot completely ensure the robot things and other issues

Inactive Publication Date: 2020-05-12
苏州晨本智能科技有限公司
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Problems solved by technology

However, the VFH obstacle avoidance algorithm does not explicitly consider the geometric size of the robot, but compensates based on experience. Obviously, this cannot completely ensure that the robot can avoid obstacles encountered during the movement, and there are some problems in the VFH algorithm. In the case of two minimum cost obstacle avoidance directions, in this case, the robot may choose a non-optimal obstacle avoidanc

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  • Omnidirectional mobile robot autonomous navigation system based on VFH* local path planning method
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  • Omnidirectional mobile robot autonomous navigation system based on VFH* local path planning method

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[0020] The following will describe the present invention in specific embodiments in conjunction with the accompanying drawings, so as to make the purpose, technical solutions and advantages of the present invention more clear. It should be noted that the described embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0021] In this embodiment, an omnidirectional mobile robot autonomous navigation system based on the VFH* local path planning method is implemented. The omnidirectional mobile robot is equipped with 4 mecanum wheels that can move omnidirectionally and 1 high-precision laser Radar enables mobile robots to move in all directions, perceive the surrounding environment, and build and update grid maps.

[0022] ...

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Abstract

The invention provides an omnidirectional mobile robot autonomous navigation system based on a VFH* local path planning method. Firstly, a laser radar installed on a mobile robot is utilized to construct a grid map of the environment, then a global path from the current position of the mobile robot to an expected target position is planned through a global path planning method, and finally, a local target point is selected from the global path to plan a local path. According to the local path planning method, a VFH+ obstacle avoidance method is improved, so that the mobile robot can select theobstacle avoidance direction as optimal as possible, meanwhile, the situation that VFH+ can select a non-optimal obstacle avoidance direction under special conditions is eliminated in combination with the thought of A* path planning, and the planned local path is as short as possible under any condition. After the local path is planned, the mobile robot is controlled to move in the direction of the local path, and meanwhile, the local path is updated at a certain frequency so that the mobile robot can autonomously navigate in a scene with a complex and changeable environment.

Description

technical field [0001] The invention relates to an omnidirectional mobile robot autonomous navigation system based on a VFH* local path planning method, and belongs to the technical field of mobile robot autonomous navigation. Background technique [0002] With the development of robot technology, more and more robots, especially mobile robots, are widely used in all aspects of people's daily life, such as logistics storage robots, inspection robots and home service robots. Among mobile robots, omnidirectional mobile robots are popular because they can move in any direction. The key to mobile robot technology lies in its autonomous navigation ability in the process of moving from the current position to the target position. Mobile robot autonomous navigation technology involves environment perception, precise positioning, decision-making and planning, as well as control and execution. On the basis of environmental perception and precise positioning, the quality of decision...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0276G05D2201/02
Inventor 陈文强王柠
Owner 苏州晨本智能科技有限公司
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