MATEC Web of Conferences (Jan 2018)

Research and Implementation of Robot Path Planning Based onVSLAM

  • Wang Zi-Qiang,
  • Xu He-Gen,
  • Wan You-Wen

DOI
https://doi.org/10.1051/matecconf/201816006004
Journal volume & issue
Vol. 160
p. 06004

Abstract

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In order to solve the problem of warehouse logistics robots planpath in different scenes, this paper proposes a method based on visual simultaneous localization and mapping (VSLAM) to build grid map of different scenes and use A* algorithm to plan path on the grid map. Firstly, we use VSLAMto reconstruct the environment in three-dimensionally. Secondly, based on the three-dimensional environment data, we calculate the accessibility of each grid to prepare occupied grid map (OGM) for terrain description. Rely on the terrain information, we use the A* algorithm to solve path planning problem. We also optimize the A* algorithm and improve algorithm efficiency. Lastly, we verify the effectiveness and reliability of the proposed method by simulation and experimental results.