Trackless adaptive navigation method and system based on offline map algorithm

• Main Authors: WANG ZHOU, ZHAO YIFAN, WANG HANCHU, ZHAO YUEFENG, TIAN YUQING
• Format: Patent
• Language: Chinese; English
• Published: 24.11.2020
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CONTROLLING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; REGULATING; SURVEYING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

The invention provides a trackless adaptive navigation method and system based on an offline map algorithm, and the method comprises the following steps: obtaining the positioning position of mobile equipment in real time through the offline map algorithm, and obtaining a path map corresponding to the positioning position according to the positioning position; moving according to a path on the path map, and detecting whether an obstacle exists or not; if the obstacle exists, adjusting the path in real time to avoid the obstacle; and if no obstacle exists, using a PID algorithm to control and correct the actual path of the mobile device, so that the mobile device can walk according to the path on the path map. The technical means of integrating an offline map algorithm, self-adaptive PID, an integrated I0T algorithm and the like are fused, orbital-free self-adaptive navigation is achieved, and compared with other navigation methods, the flexibility of the mobile robot can be greatly improved. Advanced track la