Layered shielding and stepless speed regulation collaborative obstacle avoidance system for 2D laser radar

Abstract

The invention provides a 2D laser radar layered shielding and stepless speed regulation collaborative obstacle avoidance system, which comprises a 2D laser radar device, an industrial personal computer, a single chip microcomputer, a motor control unit, a 2Dslab positioning module and a layered collaborative obstacle avoidance module, according to the module, efficient obstacle avoidance is realized through a four-layer collaborative architecture; comprising a user interaction layer for providing a graphical configuration interface, a map fusion shielding layer for realizing static barrier shielding based on a positioning map, and a dynamic deceleration area sensing layer for dynamically adjusting the sensing range according to the real-time speed and acceleration of a mobile robot, and the stepless speed regulation control layer is used for constructing a speed continuous mapping model to realize smooth transition of the near-obstacle process. According to the invention, through the synergistic effect among the stepless speed regulation control layer, the dynamic deceleration area sensing layer, the map fusion shielding layer and the user interaction layer, the smoothness, the adaptability and the intelligence of the obstacle avoidance decision are realized.

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