A Robust Robot System via Multi-sensor Fusion Localization and Optimized Path Planning
Tingting Zhuang, Xiaoning Huang, Xiaoyu Tang · 2023
With the continuous in-depth development of robot technology, a variety of Autonomous robots play an important role in the military and civil fields. In autonomous robots, localization and navigation are the main challenges in recent research. In order to improve the autonomy of the robots, this paper designs a novel localization and navigation system for them. The proposed algorithm presents a multi-sensor fusion module based on prior point cloud maps which means that robots can utilize the built map information to have a better perception of the surrounding environment and achieve more accurate localization. Meanwhile, we propose a hybrid path planning algorithm combining the optimized KB-RRT* algorithm and the dynamic window method as the system navigation algorithm. Compared to other mainstream methods, our proposed system can achieve real-time precise localization and more efficient path planning in outdoor environments.