The invention relates to the technical field of autonomous mobile robots, in particular to a freight
robot autonomous navigation
obstacle avoidance method based on multi-
sensor fusion, which comprises the following steps of: identifying dynamic targets such as pedestrians and vehicles through data fusion of a depth camera and a
laser radar, and predicting a future short-term movement track of the dynamic targets by utilizing a filtering
algorithm; a risk corridor over time is generated, so that emergency braking or
deadlock is avoided, and the operation efficiency and the traffic smoothness are greatly improved; a space-time consistency
cross validation mechanism is established by utilizing the characteristics that the
laser radar is insensitive to transparent objects and ultrasonic
waves are sensitive to the transparent objects, so that
false alarm and missing alarm are effectively eliminated, the
robot can safely pass through a complex indoor environment, and the application boundary is greatly expanded; a depth camera is used for fitting a
ground plane and analyzing
point cloud height change in real time, so that obstacles which cannot be expressed by a two-dimensional navigation map can be identified; and an optimal track is generated by minimizing a multi-target cost function, so that the path is ensured to be safe and smooth.