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Indoor robot autonomous mapping navigation system based on laser SLAM

An indoor robot and navigation system technology, applied in the field of indoor robot autonomous mapping navigation system, can solve the problems of missing information, reducing missed detection, missing detection of irregular obstacles, etc., and achieve good map building effect

Pending Publication Date: 2021-06-18
HARBIN UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

Lidar can quickly obtain full-angle distance information on a certain horizontal plane of the surrounding environment, but it is completely missing information on other plane environments, and there is a problem of missed detection of an irregular obstacle.
However, the depth camera can obtain the three-dimensional distance information of obstacles within a certain angle, which greatly reduces the probability of missed detection

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0016] This specific embodiment adopts following technical scheme: its method is as follows:

[0017] Step 1: Status analysis: understand the current development status of SLAM and the process of data fusion;

[0018] Step 2: Overall design plan: build the robot hardware platform, including the selection of sensors, analyze the existing mapping algorithm according to the actual situation, select the optimal Cartographer laser SLAM algorithm for improvement, and then plan the path of the robot and study A* The integration with the dynamic window method makes the path smoother and more efficient;

[0019] Step 3: Data preprocessing: calibration of the wheel odometer and correction of lidar motion distortion with secondary interpolation, and external parameter calibration of Kinect and lidar, and then a series of tests to facilitate subsequent data fusion;

[0020] Step 4: Multi-source sensor data fusion: Based on the Cartographer algorithm, use KF to fuse 2D lidar and depth cam...

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Abstract

The invention discloses an indoor robot autonomous mapping navigation system based on laser SLAM, and relates to the technical field of robots. The method comprises the following steps: 1, making current situation analysis; 2, making a general design scheme; 3, data preprocessing: calibrating a wheel type odometer, correcting motion distortion of the laser radar by using quadratic interpolation, performing external parameter calibration on the Kinect and the laser radar, and then performing a series of tests to facilitate subsequent data fusion; 4, multi-source sensor data fusion: on the basis of a Cartograph algorithm, fusing the 2D laser radar and depth camera data by using KF; 5, path planning: modifying the A* and fusing a dynamic window method, and performing analysis and comparison with a traditional A* path planning result; and 6, performing experimental simulation. According to the method, information of the laser radar and the depth camera is fused on the basis of the Cartograph algorithm, and a better map making effect is achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a laser SLAM-based autonomous mapping and navigation system for indoor robots. Background technique [0002] Mobile robot is a complex system integrating computer technology, sensor technology, information processing, electronic engineering, automation and artificial intelligence. With the rapid development of economy and society and the continuous progress of science and technology, it is constantly upgrading from low-end industries to high-end technology industries , The field of mobile robots has also developed more broadly. [0003] Robot technology liberates human beings from simple and repetitive labor. With the rapid development of computer technology and sensor technology, the applicable fields of robots are also expanding. In order to adapt to complex and dangerous work needs, detection robots, underwater robots, medical robots, sorting robots, service robots...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/34G01S17/894
CPCG01C21/206G01C21/3446G01S17/894
Inventor 苏建杰闫哲
Owner HARBIN UNIV OF SCI & TECH
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