Service robot autonomous navigation method based on raster maps

The invention belongs to the technical field of robot navigation and relates to a service robot autonomous navigation method based on raster maps. According to the method, the information of the environment where a robot is located is acquired in real time through 2D laser radar, environment feature extraction is conducted, raster map establishment is conducted according to the acquired information by means of the SLAM technique, autonomous positioning is conducted on the robot in real time at the same time, path planning is conducted on the robot according to navigation task requirements on this basis, and then tracking control is conducted according to the planned path to enable the robot to accomplish the navigation task. Compared with the prior art, the method has the advantages that three key techniques in navigation are improved so that the method can meet actual requirements of service robot navigation better, and then the optimal feasible scheme is obtained; environment information is processed in real time to generate dynamic maps, and then autonomous navigation is achieved effectively, and navigation accuracy and efficiency are improved greatly.