Abstract: In the field of robotics,safe passage through narrow environments is one of the keys for robots to perform navigation tasks autonomously and reliably.To solve the problem that robots cannot safely pass through narrow environment due to multiple error sources,this paper proposes the robot indoor navigation system for narrow environments.In the course of navigation,the system marks the narrow environment according to the geometric relationship between the obstacles and the global path in the map and generates suitable traffic poses.When the robot enters and exits the marked narrow environment,it automatically swi-tches the corresponding navigation strategy to adapt the environment.In the narrow environment navigation strategy,the global cost map is inflated to plan a safer global path,and the robot plans the global path in segments according to the suitable traffic poses,aiming to adjust the pose in advance to reduce the turning demand in the narrow environment.The MPC path tracking method is optimized by converting the optimal control problem into the least squares problem.It replaces the local path planning method to calculate the trajectory,and prevents the misjudgment of local trajectory collision resulting in navigation failure.The simulation and real environment experiment results show that the system can effectively improve the passing rate of the robot in the narrow environment,so that the robot can perform the navigation task more safely and stably.

Key words: Robot navigation, Narrow environment, Automatic adaptation, Suitable traffic pose, Path tracking