Research on dynamic obstacle avoidance technology of mobile robot

Qingyu Meng; Yan Piao

doi:10.1117/12.2668467

20 April 2023 Research on dynamic obstacle avoidance technology of mobile robot

Qingyu Meng, Yan Piao

Proceedings Volume 12602, International Conference on Electronic Information Engineering and Computer Science (EIECS 2022); 126021G (2023) https://doi.org/10.1117/12.2668467
Event: International Conference on Electronic Information Engineering and Computer Science (EIECS 2022), 2022, Changchun, China

Abstract

In order to realize the effective dynamic obstacle avoidance of the robot when the indoor topographic map is unknown, this paper uses hardware such as lidar, panoramic camera, and software codes such as deep learning to build a mobile robot that meets dynamic obstacle avoidance. First, the robot uses lidar to obtain information about the surrounding environment of the robot, and uses the firefly algorithm to improve the traditional G-Mapping algorithm to draw a more accurate grid map to obtain the global optimal path. At the same time, the hyperbolic panoramic camera 360⁰is used to extract the information of the surrounding environment of the moving robot and transfer it to the PC, and then usetheYoloV5 deep learning framework combined with ShufflenetV2 to integrate the DWA algorithm to avoid obstacles in real time for the robot. Experiments show that the accuracy and speed of real-time obstacle avoidance of the robot are improved to a certain extent under this method.

Citation Download Citation

Qingyu Meng and Yan Piao "Research on dynamic obstacle avoidance technology of mobile robot", Proc. SPIE 12602, International Conference on Electronic Information Engineering and Computer Science (EIECS 2022), 126021G (20 April 2023); https://doi.org/10.1117/12.2668467

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