Multimodal intelligent logistics robot combining 3D CNN, LSTM, and visual SLAM for path planning and control

Frontiers in Neurorobotics

Neuroscience

Zhuqin Han¹ 

[1] null;

关键词: multimodal logistics robot;    3D CNN;    LSTM;    Dijkstra;    SLAM;    path planning;   

DOI  :  10.3389/fnbot.2023.1285673

 received in 2023-08-30, accepted in 2023-09-18,  发布年份 2023

来源: Frontiers

【 摘 要 】

IntroductionIn today's dynamic logistics landscape, the role of intelligent robots is paramount for enhancing efficiency, reducing costs, and ensuring safety. Traditional path planning methods often struggle to adapt to changing environments, resulting in issues like collisions and conflicts. This research addresses the challenge of path planning and control for logistics robots operating in complex environments. The proposed method aims to integrate information from various perception sources to enhance path planning and obstacle avoidance, thereby increasing the autonomy and reliability of logistics robots.MethodsThe method presented in this paper begins by employing a 3D Convolutional Neural Network (CNN) to learn feature representations of objects within the environment, enabling object recognition. Subsequently, Long Short-Term Memory (LSTM) models are utilized to capture spatio-temporal features and predict the behavior and trajectories of dynamic obstacles. This predictive capability empowers robots to more accurately anticipate the future positions of obstacles in intricate settings, thereby mitigating potential collision risks. Finally, the Dijkstra algorithm is employed for path planning and control decisions to ensure the selection of optimal paths across diverse scenarios.ResultsIn a series of rigorous experiments, the proposed method outperforms traditional approaches in terms of both path planning accuracy and obstacle avoidance performance. These substantial improvements underscore the efficacy of the intelligent path planning and control scheme.DiscussionThis research contributes to enhancing the practicality of logistics robots in complex environments, thereby fostering increased efficiency and safety within the logistics industry. By combining object recognition, spatio-temporal modeling, and optimized path planning, the proposed method enables logistics robots to navigate intricate scenarios with higher precision and reliability, ultimately advancing the capabilities of autonomous logistics operations.

【 授权许可】

Unknown   
Copyright © 2023 Han.

【 图 表 】

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