Research and implementation of complex corner location and parking strategy for mobile robot

Home > Archive>Volume 46, Issue 22, 2023 >26-31

Research and implementation of complex corner location and parking strategy for mobile robot
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                        Li FangdiLi Fangdi
School of Automation Science and Engineering, South China University of Technology，Guangzhou 510641, China
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Deng XiaoyanDeng Xiaoyan
School of Automation Science and Engineering, South China University of Technology，Guangzhou 510641, China
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Wu WeimingWu Weiming
School of Automation Science and Engineering, South China University of Technology，Guangzhou 510641, China
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Zhou YijingZhou Yijing
School of Automation Science and Engineering, South China University of Technology，Guangzhou 510641, China
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Chen XintingChen Xinting
School of Automation Science and Engineering, South China University of Technology，Guangzhou 510641, China
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Affiliation:School of Automation Science and Engineering, South China University of Technology，Guangzhou 510641, China
Clc Number:TP242.6
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Abstract:

When the mobile robot sets the navigation point in the depth of the complex corner, the mobile robot can not plan the path because of the oscillation and rotation of the inaccurate positioning. This paper proposes a local planner based on TEB combined with lidar to collect corner information, and realize the rapid positioning and navigation of the mobile robot by setting auxiliary points. Through testing in the simulation platform Gazebo and the actual environment, the results show that the method can solve the positioning problem of complex corners, and realize the fast and effective path planning and accurate parking of mobile robots.

Key words:mobile robot;path planning;auxiliary positioning

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Online: March 08,2024
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