Research on Algorithms of Moving Robot Localization and Automatic Obstacle Avoidance in Indoor Dynamic Environment
In this paper,the problem of localization and automatic obstacle avoidance of the moving robot is studied. The data fusion between the lidar sensor and the inertial measurement unit sensor is carried out using the FAST-LIO framework,the position and attitude of the robot can be estimated accurately. Based on ant colony algorithm and dynamic window method,a new hybrid algorithm of DWA-ACO is proposed to avoid static and dynamic obstacles in real time. The simulation results show that the proposed algorithm is effective and feasible in locating and avoiding obstacles.