Research On Indoor Positioning And Obstacle Detection Based On Lidar 2-D Imaging

Indoor robots have broad application prospects in social production and human life,and accurate positioning and obstacle detection on the path are the core technologies of their research and development,which have a crucial impact on the progress of indoor robot technology.To this end,the paper studies the construction of indoor 2-D environment map,location and obstacle detection based on 2-D imaging laser radar.On the basis of investigation data,this paper chooses geometric feature map method to represent indoor 2-D environment map by feature line segment set,and proposes a method of building indoor 2-D environment map based on line segment feature extraction and fusion of single-line lidar multi-point scanning.On the basis of computer simulation,this paper constructs a 2-D environment map of typical indoor scenes through experiments.On this basis,the overlap length of incomplete line segments is introduced into the complete line segment matching process,and the method of complete line segment matching and positioning in map matching method is improved,which solves the problem of insufficient complete line segments under special circumstances.The effectiveness of the method is verified by simulation and actual indoor scene experiments,and the positioning error is less than 1%.In addition,obstacle detection on the path of lidar carrier is also studied.A new obstacle detection method based on nearest neighbor clustering principle is proposed,which can quickly and accurately determine the location and size of obstacles,and is verified by experiments.The research results of this paper have certain reference value for the application of 2-D imaging lidar in the field of indoor robot positioning and autonomous navigation.