Substation patrol robot obstacle avoidance method based on laser radar

• Main Authors: TIAN XIAOLU, LIU JIAKE, KONG LINGWEN, QIN ZHENHUA, SUN KAI, SUN ZHIZHOU, FU CHONGGUANG
• Format: Patent
• Language: Chinese; English
• Published: 26.04.2017
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses a substation patrol robot obstacle avoidance method based on laser radar. A robot scans the surrounding environment through laser radar; an adopted environmental map is a two-dimensional matrix, which is a Boolean matrix of an actual substation, and the position in the substation having a device is defined as Boolean true; the current position coordinate of the robot and heading angle thereof as well as laser radar data obtained after mapping are fused; at the moment, whether the two-dimensional matrix is true or not is judged, if the two-dimensional matrix is true, it is indicated that the corresponding position of the substation has the substation device, and if the two-dimensional matrix is not true, it is indicated that the corresponding position of the substation has an obstacle, and with the coordinate of the robot as an index, corresponding elements are set as true in a new two-dimensional matrix; and a current surrounding navigation data layer of the robot serves as auxiliary i