Research On Navigation And Path Planning For Wheeled Humanoid Robot

The robot's navigation technology is the core technology of robotics, and is also the key technology of the realization of the robot's autonomous and intelligence. What this article discusses about robot navigation includes several aspects as follows: simultaneous localization and mapping (SLAM), the global path planning, the robot's localization based on the global map, the robot's real-time obstacle avoidance.Environment map is the base of robot navigation. In this thesis, grid map is used to stored and represent environment map. In the process of establishing the environment map, the accuracy of robot's localization is the key to guarantee the accuracy of the map. In this thesis, during the SLAM process, the method of particle filter is used to ensure the accuracy of the localization of the robot, that the particles are evaluated through matching the local map and global map to achieve the precision of the robot's localization, then the global map is increased by map integration of the local map and the global map.Global path planning is the method based on the map of the environment which is already known. In this thesis, the "Boundary Following Method" is used to plan the global path. Boundary following means that when there exists no obstacles between the robot and the goal or the distance between the robot and the obstacle is large, the robot moves at the direction of the goal, otherwise, the robot moves following the boundary of the obstacles, the robot's path is composed of the two modes. In this thesis, a method based on safe path is proposed to realize the optimization of the paths planned.When the environment in partly unknown or totally unknown, the mobile robot should get the ability to avoid the obstacles independently. This thesis analyzes several common obstacle avoidance methods, then simulations are carried using the Beam Cultivate Method (BCM). Meanwhile, during the process of obstacle avoidance, this thesis proposed a method of matching the similarity of the length to substitute the method of matching the grids of the local map and global map pixel by pixel. This method could solve the defects of the excessive computing during the pixel matching.Based on the preparations above, this thesis carried a large number of experiments using the wheeled humanoid robot developped by the labrotary, including SLAM positioning experiment, map building experiment, Then on basis of the global grid map, the experiment of localization using global map was also conducted, then obstacle avoidance experiment is carried out. This thesis also carried out the simulation experiment of the global path planning. The above experiments show that the theory part of this article is able to have a good practical application.