Self-positioning Of Robot Based On 2D Lidar Sensor

In the real world, safe navigation is one of the primary aims of a mobile robot. Obstacle avoidance ability is the significant embodiment of the ground mobile robot, and the basic guarantee of the ground mobile robot to perform various tasks. Obstacle avoidance technologies are divided into two kinds, one is based on the global map and another is based on sensors respectively.This paper mainly aims at the local obstacle avoidance method based on sensors. For this to be effectively achieved we must take into account both static and moving obstacles, including sidewalk curbs, ambulatory humans, and moving bicycles. To this end, the researcher has developed a new emergency obstacle avoidance module for moving robots that uses Light Detection and Ranging(LIDAR) to detect static and moving obstacles. The module comprises a tilted 2-D LIDAR and a high speed embedded microcontroller. Tilting LIDAR enables the detection of lower sidewalk curbs, which is important for enabling safe navigation. The microcontroller is used for the estimation of obstacle motion and to facilitate rapid initiation of emergency obstacle avoidance maneuvers. By employing a fast embedded microcontroller, we can distinguish between lower height obstacles and slopes, even on uneven surfaces, in real-time.