Improved Intelligent Water Droplet Navigation Method for Mobile Robot Based on Multi-sensor Fusion

摘要

To improve the navigation accuracy of mobile robots, a grid map construction based on multi-sensor fusion is proposed from the perspective of map construction. And a path planning algorithm based on improved intelligent water droplet algorithm is proposed. Firstly, the observation model and information fusion framework of radar and depth vision sensor are established to construct the grid map. Secondly, the intelligent water droplet algorithm is introduced into the path planning model. The neighborhood perturbation strategy is used to optimize the evolution process of intelligent water droplets. Finally, through the verification of map construction on the mobile robot, as well as the experimental simulation of robot path planning, the improvement of map accuracy by multi-sensor fusion and the effective improvement of path convergence speed and accuracy by the intelligent drop algorithm are verified.