Research On Dynamic Navigation Of Indoor Service Robot Using Laser Scanner

Due to the large and aging population in our country, development service robotsbecome the urgent demand for our country. Positioning and navigation are the mostbasic requirements for indoor service robots. The problem always restricts thedevelopment and application of the robot.Safety is the primary consideration, especially the human factor. The dynamicnavigation and autonomous obstacles avoidance makes service robots have thenecessary safety. Therefore, it is necessary to do the research on dynamic navigationmethod for indoor service robots. It won the National Natural ScienceFoundation-funded, named “Simultaneous Localization and map building for servicerobots in dynamic unknown environment”.Firstly, the service robots’ platform were modeled and analyzed, including thedifferential drive model, Odometer model and laser scanner model. It is theoreticalground for mobile robots’ navigation research.Extract point features and line features by laser scanner and describe the envirment.Line features were fitting by least square method and accurate line features are obtainedfinally. The service robots achieved accurate position by matching the known map.Then, service robots need for global path planning to navigation. Service robots’working environment is modeled by using grid method. Use the A*algorithm based onChebyshev distance for global path planning.At the same time, for dynamic environments, especially the characteristics of thepedestrians, should research dynamic targets recognition and tracking. Through theanalysis of pedestrian gait model, pedestrians’ status is tracked based on multi-feature.Comparison on VFH algorithm and local A*algorithm, choose A*local planningalgorithm for local dynamic path planning. Service robots avoid obstacles and realizethe dynamic navigation.Finally, experiment and analysis will carried out on the subject parts, verify theeffectiveness of the overall research.