Three-dimensional Environment Of The Mobile Robot Based On Two-dimensional Laser Radar Identification

In the mobile robot's detection of environment obstacle, two-dimensional laser radarsare used largely because of their rapid and accurate measurement characteristics, but theycan not be used for 3D scanning. Taking the environmental recognition system of six-leg-wheeled mobile robot as a study object, we designed the structure and control system ofscanning platform in this article. So, the two-dimensional laser radar can scan the threedimensional environment by using this scanning platform to compensate the pose of robot.In order to reconstruct the 3-D environment, we researched the kinematics' analysis ofplatform with D-H method, found out the relationship between robot's coordinate andenvironment's coordinates, and made scanning date matching the environmentinformation. According to the scanning characteristics of this project, we can utilize themethod of triangle surface to reconstruct the three-dimensional among profile curves thatfitted by using the Least squares method. Consequently, all of these demonstrate thefeasibility of the designing in theory.In addition, we gained the obstacles that mobile robot couldn't pass through byanalyzing high gradient information and distribution of obstacles, and succeeded infounding a grid map of them. In the path planning solutions of mobile robot, we designeda potential field algorithm based on shortest distance. Calculating the potential energy ofevery grid in the map and choosing the right grid step by step, the path will be found. Atlast, we made the simulation program, and proved this grid potential field of path planningalgorithm correct.