Cui, L.; Cui, J.; Huang, Z.; Li, X.; Shang, Y.; Tong, L. Robot Navigation Algorithm Based on Real-Time Ranging and Map Matrix. Preprints2022, 2022110124. https://doi.org/10.20944/preprints202211.0124.v1
APA Style
Cui, L., Cui, J., Huang, Z., Li, X., Shang, Y., & Tong, L. (2022). Robot Navigation Algorithm Based on Real-Time Ranging and Map Matrix. Preprints. https://doi.org/10.20944/preprints202211.0124.v1
Chicago/Turabian Style
Cui, L., Yucheng Shang and Liyan Tong. 2022 "Robot Navigation Algorithm Based on Real-Time Ranging and Map Matrix" Preprints. https://doi.org/10.20944/preprints202211.0124.v1
Abstract
By constructing a static map, the library robot can navigate and access documents autonomously, which greatly improves efficiency; however, for libraries where shelves can be moved, map changes do not allow for direct navigation, and also sensors such as radar and camera are relatively expensive, so we propose a low-cost navigation algorithm based on real-time ranging data and map matrices, and designed a mobile archive access robot. In order to obtain real-time distance data, nine near/long range sensors were mounted on the chassis and a composite digital filtering algorithm was designed based on different moving area characteristics; then the access task matrix and map matrix were designed based on the archive access task and the location characteristics of the archive shelf placement, the robot can rely on the range data to update the map matrix during the moving process, complete its own positioning, and use the task matrix The robot can use the task matrix to complete autonomous navigation and access to multiple files. Experiments show that the filtered positioning accuracy can reach 1cm, while the robot can move to the target shelf autonomously, which is more practical and less costly.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
