Research on Path Planning Method of Mobile Medical Robot Based on Laser Ranging
An Yan · 2021
With the development of scientific and technological information, robots are widely used in industry, agriculture, architecture and even medical fields. It can assist or replace human beings in productive labor or high-risk activities. Reliable positioning is an essential part of any medical robot, which can be divided into position initialization and position maintenance. The surface of the environment fluctuates, and there are many kinds of obstacles in the environment. The shapes of obstacles are irregular, their distribution is random, and even they may block each other. Traditional robot positioning system adopts asymmetric bilateral bidirectional ranging technology to realize robot autonomous positioning, without considering the selection of the optimal path, which has the defects of poor flexibility and low accuracy. Lidar is a new type of sensor, which has the advantages of high precision and real-time. Combining the scanning data of laser rangefinder with the odometer from medical robot, the algorithm of simultaneous location and map generation is given.