Self-adaptive along-wall navigation method based on laser radar

Abstract

The invention relates to the field of robot intelligent control, in particular to a self-adaptive along-wall navigation method based on a laser radar, which comprises the following steps that: firstly, an area scanned by a laser radar is divided into seven areas, and then a robot and the laser radar are initialized; then the shortest distance from the laser line of each area to the wall surface and the corresponding index thereof, the included angle between the advancing direction of the robot and the wall surface, and the difference between the shortest distance from the wall surface and the ideal distance along the wall are acquired; the position of the robot relative to the wall surface is judged according to the obtained shortest distance between the laser line of each area and the wall surface and the ideal distance along the wall; and finally, the robot calculates forward linear velocity and angular velocity, and executes a velocity instruction to move. The problem that a mobile robot can hardly adapt to along-wall navigation is solved, so that the robot can adapt to a complex environment, adaptively adjust the moving speed including the linear speed and the angular speed and move along the wall according to a fixed distance, and meanwhile, the wall-following strategy can be quickly changed according to the change of surrounding obstacles.

Description

technical field [0001] The invention relates to the field of robot intelligent control, in particular to a laser radar-based adaptive navigation method along a wall. Background technique [0002] Navigation along the wall means that the robot can move along the basic outline of the wall in the environment and keep a certain distance from the wall. When navigation along walls is combined with other intelligent behaviors, mobile robots can perform complex tasks. Take the cleaning robot as an example. The cleaning robot needs to clean the dust and stains along the wall. At this time, the navigation function along the wall is needed. [0003] At present, robots often use single-point ranging sensors to navigate along walls. This method cannot perceive environmental information other than the direction that the single-point ranging sensor is facing, so it cannot effectively obtain complex environmental information. In addition, the current control method for robot navigation al...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above-mentioned problem in the prior art that the mobile robot is difficult to self-adaptively navigate along the wall, the present invention proposes a method of self-adaptively navigating along the wall based on laser radar, so that the robot can actively adapt to the complex environment and keep the distance from the wall when moving The surface distance remains unchanged, so that the robot moves along the wall at a fixed distance. The specific technical scheme is as follows:

Images