Mobile robot autonomous navigation method based on fusion algorithm

The invention relates to a mobile robot autonomous navigation method based on a fusion algorithm. The method comprises the steps that S1, a mobile robot obtains a grating map of a working environment; s2, acquiring the current position of the mobile robot; s3, coordinate transformation of the position of the mobile robot; s4, performing global path planning by using an improved A * algorithm; s5, in combination with the global path planning trajectory, performing local path planning on the mobile robot by using a TEB algorithm; s6, controlling the mobile robot to follow the planned local path; and S7, detecting whether the mobile robot reaches the target position or not. According to the method, the global path and the local dynamic path are optimized by adopting the improved A * algorithm and the TEB algorithm respectively, so that the overall path optimization efficiency is improved, and the technical problem of poor navigation effect of the mobile robot in the prior art is solved. 本发明涉及一种融合算法的移动机器人自主导航方法，包