Research On Autonomous Navigation Technology Of Indoor Robot Based On Laser Sensor

the current location and obstacle avoidance methods still have much more problems,such as difficult to achieve,real-time performance is low,and positioning error is large,the system maintenance cost is higher.Therefore,in this paper our system considering the stability,real time,feasibility and accuracy,etc.The detailed research contents are as follows:In order to solve existed accumulative error in EKF and dead reckoning,this paper was proposed a positioning method combining with the known structured environment based on Extended Kalman Filter algorithm.This method quickly extracts the information of border and corner.According to the feature mapping relationships between world coordinate system and local coordinate system,calculate the robot's position and orientation space in the scene by matching the modeled environmental information.Path planning is in accordance with certain performance indicators,search for an optimal or sub-optimal path from an initial position to destination in robot's working environment.Because robotic indoor scene relatively smooth road surface and the structure is relatively simple,so this paper only consider the horizontal path planning.We collected obstacle data points by the laser sensors,and then data clustering by given threshold.We can obtain obstacle model by using smallest enclosing circle algorithm on these obstacles data.By these models we can be solved through the process of running the robot automatic path planning problem...