Realization of Ackermann robot obstacle avoidance navigation based on Multi-sensor fusion SLAM

摘要

The Ackermann kinematic structure has a wide range of applications in various fields. This system has been utilized to design an obstacle avoidance navigation system for Ackermann robots using a Multi-sensor fusion SLAM approach, enabling the fusion of data obtained from an inertial measurement unit and laser odometry. Additionally, the traditional A* algorithm is improved including the heuristic function and point selection strategy of the algorithm, utilizing a combination of improved A* algorithm and local planning algorithm TEB as the navigation strategy to achieve motion control, mapping, positioning, navigation, based on the characteristics of the Ackerman steering structure. To verify the system's performance, an experimental test was conducted in a laboratory environment, using the Ackermann robot hardware platform. The experimental results demonstrate that the system can achieve high map accuracy, reaching the level of cm, and the improved A* algorithm is superior to the traditional A* algorithm, indicating excellent navigation accuracy.