Semantic laser-based multilevel obstacle avoidance system and method for mobile robot

• Main Authors: Zhou, Jun, Yang, Zibing, Meng, Guanghui, Wu, Di, Zhou, Huazhang, Zhao, Yifan, Song, Kai
• Format: Patent
• Language: English
• Published: 19.01.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CONTROLLING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; HAND TOOLS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MANIPULATORS; MEASURING; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING; TRANSPORTING

Abstract The present invention relates to a semantic laser-based multilevel obstacle avoidance system and method for a mobile robot. The data of a laser radar, an industrial camera and an ultrasonic sensor are tightly coupled to obtain semantic laser, so that the laser point cloud has attitude information, obstacle type and motion range and other information, the scanning range of the laser radar is divided into three layers, whether a robot body is in a mapping state is judged, and corresponding obstacle avoidance actions in the mapping state and a navigation state of the robot body are generated according to the feature information of an obstacle. The unicity of traditional obstacle avoidance information is changed, the mobile robot has the ability to recognize the feature of the obstacle in an unknown dynamic environment, and the flexibility of the entire obstacle avoidance system is improved. Drawings m-- -dul ---I I aaaIl I'l IIgi..-P - g WkMa-a f -pa~n adl 21 Idla, m o i Creaaomoliefoemaeioo daeaeeo a tl o aa e of Moooolaeoiderel Ccame II [1 ,fffcanoiaofth-b.-Il 1 igoolooaeeae ebaogadu fielm Ul-w GOaa-au 1 . i I FM1f Fig.1I MI - 0 Fig. 2 1Fg 3 -~ -1/7