Map Construction and Path Planning Method for a Mobile Robot Based on Multi-Sensor Information Fusion

Applied Sciences

Shunming Li¹  Gang Liu²  Zhen Huang³  Jinbo Wang⁴  Aijuan Li⁴  Jiaping Cao⁴ 

[1] College of Energy and Power Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China;Office of Academic Affairs, Shan Dong Jiaotong University, Jinan 250357, China;SWAT Corps, Shandong Provincial Public Security Department, Jinan 250115, China;School of Automotive Engineering, Shan Dong Jiaotong University, Jinan 250357, China;

关键词: map construction;    data fusion;    ant colony algorithm;    path planning;    dynamic window;   

DOI  :  10.3390/app12062913

来源: DOAJ

【 摘 要 】

In order to solve the path planning problem of an intelligent vehicle in an unknown environment, this paper proposes a map construction and path planning method for mobile robots based on multi-sensor information fusion. Firstly, the extended Kalman filter (EKF) is used to fuse the ambient information of LiDAR and a depth camera. The pose and acceleration information of the robot is obtained through the pose sensor. The SLAM algorithm based on a fusion of LiDAR, a depth camera, and the inertial measurement unit was built. Secondly, the improved ant colony algorithm was used to carry out global path planning. Meanwhile, the dynamic window method was used to realize local planning and local obstacle avoidance. Finally, experiments were carried out on a robot platform to verify the reliability of the proposed method. The experiment results showed that the map constructed by multi-sensor information fusion was closer to the real environment, and the accuracy and robustness of SLAM were effectively improved. The turning angle of the path was smoothed using the improved ant colony algorithm, and the real-time obstacle avoidance was able to be realized using the dynamic window method. The efficiency of path planning was improved, and the automatic feedback control of the intelligent vehicle was able to be realized.

【 授权许可】

Unknown