An autonomous navigation method for robots under virtual-real coupling constraints
An autonomous navigation and robot technology, applied in the direction of navigation computing tools, etc., can solve problems such as limited working space, large quality and volume of construction robots, and achieve the effect of reducing path length and improving safety
Active Publication Date: 2022-07-29
HEBEI UNIV OF TECH
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Problems solved by technology
The mass and volume of existing construction robots are large and the working space is limited, which is not suitable for the application of traditional SLAM methods to establish a complete environment map, and the construction environment of construction robots is known. Therefore, there is an urgent need for a method based on the known complex construction environment The autonomous navigation method considers the safety and passability of the outline features of the construction robot, and improves the smoothness of the path
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Embodiment 1
[0115] Taking the mechanical building of the Hongqiao campus of Hebei University of Technology as the experimental scene, the location information of the building entity on the third floor in the BIM model of the mechanical building is as follows: image 3 shown. Select the three components "Wall", "Door" and "Window" necessary to construct the robot's navigation virtual space for analysis.
[0116] According to the matching method based on model boundary points in step 2 of the second step, 8 boundary points in the BIM model are matched with 8 boundary points in the point cloud model, and the optimal matching error concentration is obtained after matching. The maximum error is e max =0.01018m.
[0117] According to the location information of the building entities on the third floor of the Mechanical Building of Hongqiao Campus, a grid map is constructed, and the improved A * The algorithm performs global path planning, and the obtained global path reserves a sufficient sa...
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The invention discloses a robot autonomous navigation method under the virtual-real coupling constraint environment, including the construction of a virtual space, the construction of the virtual-real coupling constraint environment, and the application of an improved A * The algorithm performs the global path planning of the robot, obtains the optimal planning path, obtains the real environment information and combines the virtual-real coupling constraint environment, and then considers the contour characteristics of the robot. Avoidance. This method adopts the method of coupling the BIM model and the point cloud model obtained by 3D reconstruction to establish the virtual-real coupling constraint environment for the construction robot to work. Combined with the virtual-real coupling constraint environment data, the safety and passability of the robot are considered to improve A. * algorithm, delete redundant turning points; improve the DWA algorithm according to the virtual-real coupling constraint environment data, so that the robot can bypass the local minimum trap in a complex environment.
Description
technical field [0001] The invention relates to the field of autonomous navigation of mobile robots, in particular to a robot autonomous navigation method in a virtual-real coupling constraint environment. Background technique [0002] In recent years, intelligent construction is the latest research field of the integration of modern construction industry and new generation of information technology. With the development of construction industrialization, it will subvert the traditional construction mode and give birth to a series of new technologies and new formats. The development of intelligent construction robots has become an inevitable trend. Autonomous path planning and real-time obstacle avoidance are the key technologies to realize autonomous operation of construction robots. At present, the SLAM method is one of the effective means to solve the environment perception and positioning and navigation in the field of mobile robots. The quality and volume of the exist...
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 刘今越刘子毅孙晨昭李铁军贾晓辉
Owner HEBEI UNIV OF TECH