Robot obstacle avoidance method and system based on multi-sensor fusion estimation and iterative pre-search

Abstract

The invention discloses a robot obstacle avoidance method and system based on multi-sensor fusion estimation and iterative pre-search, and the method comprises the steps: obtaining a pose measurement value of a robot according to the odometer data, position data and obstacle sensing data of the movement of the robot; according to the three-axis angular velocity and the three-axis acceleration of the motion of the robot, a pose prediction value of the robot is obtained; the pose of the robot is obtained according to the pose measurement value and the pose prediction value of the robot; judging whether the obstacle is located on a linear path of the current pose and the target point of the robot, if so, searching a motion path of the robot along the edge of the obstacle, respectively calculating cost values for the motion path, and taking the motion path with the lowest cost value as a middle target point, and carrying out calculation on the robot to the middle target point; and performing path planning from the middle target point to the target point. And real-time obstacle avoidance of the robot is realized.

Description

technical field [0001] The invention relates to the technical field of robot obstacle avoidance, in particular to a robot obstacle avoidance method and system for multi-sensor fusion estimation and iterative pre-search. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] Mobile robot pose estimation refers to a method in which a mobile robot obtains its own pose estimation by processing sensor information. At present, the sensing devices used for pose estimation of mobile robots mainly include lidar, vision sensor, Inertial Measurement Unit (IMU), wheel odometer and GPS. [0004] Although the mobile robot can realize the pose estimation function according to each single sensor information, in the actual use process, in some scenarios, such as many obstacles, ground slippage, etc. big error problem. [0005] For example, the real-time speed ...

AI Technical Summary

Problems solved by technology

[0004] Although the mobile robot can realize the function of pose estimation according to each single sensor information, in the actual use process, in some scenarios, such as many obstacles, slippery ground, etc., the single sensor information leads to the existence of relatively difficult pose estimation. big error problem

[0005] For example, the real-time rotation speed of the wheels is collected through the odometer, but there is a phenomenon of slipping between the wheels and the road surface during the movement of the wheeled robot, which will cause a large deviation in the speed measurement information of the odometer

[0006] When the line between the target point and the current point passes through the middle of the obstacle, the difference in cost value of the path planned along the left and right of the obstacle is small; The phenomenon of planning to the left and sometimes planning to the right

[0007] When the path planning is to walk next to the obstacle, the robot will be wrapped by the obstacle due to the error of the radar recognition, which makes it impossible to plan or plan a path that does not match the actual path, making the robot in a state of shock

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