Research On Adaptive Navigation Method Of Terminal Service Robot

Safe and efficient traffic in dense crowd environments is an important issue to be solved for robots in applications such as airport terminals,etc.The difficulty is to adapt to the vast and complex environment and the uncertainty of pedestrian behavior,resulting in the variability of the feasible path and the real-time and accuracy of the indoor map location.In view of the current terminal service robot cannot carry passengers and luggage at the same time for effective navigation,a terminal service robot adaptive navigation method was researched,designed and implemented.The terminal service robot hardware system and software system were designed,focused on the research of the adaptive traffic strategy,the navigation method based on adaptive traffic strategy was proposed.Firstly,the terminal service robot adaptive navigation system was designed.In view of the vast environment,complex scene and large passenger mobility in terminal,the robot hardware system was designed by the two-wheel differential speed and multi-sensor fusion.For the interaction with passengers during the operation of the robot,the software system was built by ROS to carry passengers and luggage and operate safely in the terminal.Secondly,the adaptive traffic strategy based on the expandable path was proposed.Based on the large number of passenger in the terminal environment,referring the social force model of passage and avoidance in crowds,the path expandable view and the traffic strategy in dense crowd environments were proposed.The expandable path model was constructed to analyze the space-time relationship between pedestrians and robots and to extract the expandable path with the path passage probability and credibility.The distance convex hull method to select the expandable path set was proposed.On this basis,Breadth First Search was used to establish expandable path set and remove redundant paths.The traffic strategy of robots and achieved higher traffic efficiency in various environments were formulated according to the optimal path evaluation function and the right of way rule.Thirdly,the robot navigation method based on adaptive traffic were proposed.Multiple sensors were used to obtain environmental information,a terminal map was established by fusion SLAM for localization,and pedestrians were removed based on the probability of existence.A* algorithm and the expandable path method were adopted for path planning.In view of the uncertainty of pedestrian movement,the waiting time method was adopted to adjust the global planning path,and the pedestrian distance method was adopted to solve motion planning.By calculating the relevant parameters and controlling the robot movement,the safety and stability of the terminal service robot navigation were improved.Finally,the traffic,navigation experiments were carried out in several common indoor environments and typical scenes of the terminal.The results show that the adaptive traffic strategy based on expandable Path can effectively carry out efficient traffic in the terminal environment.The navigation method based on adaptive traffic strategy can meet the complex navigation task requirements of the terminal environment.