基于激光SLAM的物流分拣机器人自主导航研究
Research on autonomous navigation of logistics sorting robot based on laser SLAM
王力锋 1刘抗英 1姚源果 1周万洋1
作者信息
摘要
物流分拣机器人工作环境的障碍物多,为此提出基于激光SLAM的物流分拣机器人自主导航研究方法.利用激光SLAM确定机器人工作环境中障碍物的分布情况;将目标偏置策略加入到RRT*算法中,通过设置固定概率和变概率的目标偏置策略,在遍历目标点时使路径节点更具导向性,更好地避免机器人与障碍物发生碰撞,再利用搜索随机树搜索其中的最短路径.对比实验表明:与常规方法相比,该方法可在起始点与 目标点之间指导机器人按照最短路径行进,导航过程花费时间较短,使机器人自主导航的出错率和能耗均在5％左右.
Abstract
There are many obstacles in the working environment of logistics sorting robots,so a research method for autonomous navigation of logistics sorting robots based on laser SLAM is proposed.Using laser SLAM to determine the distribution of obstacles in the robot's working environment.Add the target bias strategy to the RRT algorithm,and by setting fixed and variable probability target bias strategies,make the path nodes more directional when traver-sing the target points,better avoiding collisions between robots and obstacles,and then use the search random tree to search for the shortest path among them.Comparative experiments have shown that compared with conventional meth-ods,this method can guide the robot to follow the shortest path between the starting point and the target point,and the navigation process takes less time,resulting in an error rate and energy consumption of about 5％for robot autonomous navigation.
关键词
激光同步定位与地图构建/机器人自主导航/G-RRT*算法/目标偏置策略/随机树Key words
laser simultaneous localization and mapping/autonomous navigation of robots/G-RRT*algorithm/target bias strategy/random tree引用本文复制引用
基金项目
教育部人文社会科学研究项目(21YJAZH098)
全国高校、职业院校物流教学改革教研课题(JZW2022244)
广西壮族自治区高等学校中青年教师科研基础能力提升项目(2020KY19027)
出版年
2024
NETL
NSTL
万方数据