Multi laser sensor fusion planning technology for obstacle avoidance path of mobile robots
To control mobile robots to successfully avoid static and dynamic obstacles and safely and quickly run to their destination,a multi laser sensor fusion planning technology for obstacle avoidance path of mobile robots is stud-ied.This technology installs two LiDAR sensors on the robot to sense the obstacle information in the environment where the robot is located.The obstacle positioning method based on multi laser sensor fusion weights the perception informa-tion of the two LiDAR sensors and extracts static obstacle position data.After that,the robot path planning method based on dynamic obstacle avoidance is used,and the improved A*algorithm is combined with static obstacle posi-tion data,Plan the global obstacle avoidance path for robots;Considering the possibility of dynamic obstacles appea-ring in the global obstacle avoidance path,the artificial potential field method is used to calculate the repulsive force,gravitational force,combined force,and direction of the dynamic obstacles and the destination on the robot,and adjust the direction of the robot's dynamic obstacle avoidance in the global obstacle avoidance path.In the experiment,the deviation of obstacle positioning under the method proposed in this article is within 0.1 m.This technology has quali-fied obstacle avoidance ability for static and dynamic obstacles.When running to the destination,it collides with the obstacle 0 times,and the planned path and running time are relatively short,with 158 m and 9.2 min,respectively,indicating high efficiency.
mobile robotsobstacle avoidance pathmultiple laser sensorsintegration planningim-prove the A*algorithmartificial potential field method
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