Study On The Navigation Signal Measurement And Localization Of The Wheeled Mobile Robot With Differential Driving

Taking the independently developed mobile robot as studying object, the kinematics model is deduced, computer control system is developed, sensor measuring and signal processing are investigated, and lateral localization is verified by experiment with computer technology, classical cybernetics and modern cybernetics, sensor measuring technology and signal processing technology. The theoretical kinematics model is set up by dead reckoning to the two-wheel-differential-driving mobile robot, which established the base for following movement control. Open computer control system based on PMAC is conceived. The navigation signal measurement aimed at the ultrasonic sensor, the gyroscope, and so on. The two methods of prevent pulse and low -pass filtration have been adopted to carry out digital filter of the signal, the high frequent signal (noise) is filtrated greatly and exact angle velocity is obtained, which improved localization precision of AGV. Finally, the traditional PID control method is used to carry on the lateral localization experiment to the wheeled mobile robot. The experiments indicate that the lateral localization precision can reach ±0.8916mm and the angle precision can reach ±0.4385°. As the study in this paper is completed in the process of developing several types of mobile robots, the new thoughts and methods presented in the paper can be tested practically and corrected in time. Thus, the methods and relevant conclusions presented in the paper possess practical significance and can be referenced in the design and development of mobile robots.