Omnidirectional moving platform navigation method

The invention, which belongs to the technical field of navigation, provides an omnidirectional moving platform navigation method being a novel method. According to the omnidirectional moving platform navigation method, iGPS global positioning data and measured motor rotation momentum of a motor encoder are obtained to carry out combined positioning, and a shortest path from a current position to a target position is searched in a topological map; after path searching completion, path tacking is carried out, a speed control instruction and a displacement control instruction are sent to a umac controller, and the umac controller controls the motor to make rotation, thereby completing autonomous driving of the omnidirectional moving platform and autonomous navigation. The method is implemented by real-time path searching; and the positioning precision is high and the adaptability is high.