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

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...

AI Technical Summary

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 avoidance direction, which will cause the robot to be unable to move to the target point with the shortest path

[0006] On the basis of the VFH obstacle avoidance method, the VFH+ obstacle avoidance method explicitly considers the geometric dimensions of the robot to ensure the safety of the robot during obstacle avoidance. However, it still fails to avoid that the robot will choose a non-optimal Possibility of obstacle avoidance direction

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