A different -moving wheel robot and navigation method based on multi -sensor fusion

Abstract

The invention discloses a differential wheeled robot based on multi-sensor fusion and a navigation method along a wall. The robot includes a robot body, a traveling mechanism and a rotating mechanism. The robot body includes a single-point ranging sensor, a laser radar, and a fusion module; the method includes : S1, initialize robot and sensor, S2, obtain sensor information, S3, multi-sensor information fusion, S4, robot position correction, S5, robot attitude correction, S6, robot navigate along the wall, S7, robot execute speed command; application of the present invention For the differential wheeled robot, multi-sensor information is fused, step 1-5 is executed once, and then step 6-7 is repeatedly executed at a frequency of 5.5hz to complete the efficient navigation along the wall; the invention enables the differential wheeled robot to follow the fixed Efficient distance moving along the wall, autonomous adjustment of linear velocity and angular velocity, and transformation of objects along the wall.

Description

technical field [0001] The invention relates to the technical field of robot intelligent control, in particular to a multi-sensor fusion differential wheeled robot and a 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 co...

AI Technical Summary

Problems solved by technology

[0003] At present, robots often use single-point ranging sensors to navigate along the wall. 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 along the wall lacks adaptability to the environment, and cannot adjust the moving speed in a real-time, dynamic and self-adaptive manner.

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