Research Of Dynamic Environment Navigation Of Mobile Robot Based On Single-line Lidar

In recent years,with the rapid development of the robot industry,the sensor industry and the artificial intelligence industry.There are more and more robot products that people can access,such as indoor service robots,sweeping robots,etc.,and the stability and safety of mobile robot dynamic navigation has become the end point of attention.So this article is very meaningful based on the study of dynamic navigation.This topic builds an omnidirectional mobile robot platform.Based on the open source system platform ROS,the system software architecture is established and the general framework of navigation strategy is developed.According to the positioning and control needs,the forward and inverse kinematics model of the mobile robot is established,and the odomtry model is established according to the positive kinematics.According to the requirements of indoor environment modeling,the measurement model of lidar is established and the indoor environment modeling algorithm is studied.The experiment is compared and the map is used as a known map for path planning.In order to ensure the accuracy of positioning,the experimental map must ensure certain accuracy requirements,so choose the appropriate algorithm as the environment modeling algorithm.According to the positioning strategy requirements,the positioning algorithm is studied and its positioning stability is determined in the experiment.Pedestrians are the main dynamic obstacles in the room.It is necessary to complete the lidar-based pedestrian detection and tracking,and the stability of pedestrian detection is verified by experiments.The commonly used global path planning algorithm is investigated,and simulation and site experiments are carried out.The A* algorithm with higher efficiency is selected as the global path planning algorithm of the robot.Based on the global path,based on the TEB(time elastic band)local path planning algorithm,the dynamic model constraint of the omnidirectional mode is established to realize the local path planning.In order to verify the stability of the algorithm used and the stability of the algorithm and the stability and safety of dynamic navigation,this project carried out experiments on the two platforms of the mobile robot platform and the DJI Robomater infantry robot.The experimental results were analyzed and verified.The reliability and stability of the dynamic navigation algorithm system,and pointed out the shortcomings and the problems to be studied.The research on pedestrian detection and dynamic navigation in this paper will help the positioning and dynamic navigation of mobile robots in indoor environment,and lay a solid theoretical foundation for the application in practical environments.