Indoor Service Robot Positioning And Navigation Research And Implementation

At present, with the growing trend of the world’s population aging, olderpopulation increases gradually, the elderly population increases gradually, at thesame time, the disabled population caused by all kinds of disasters or disease alsoincreases. The emergence of the service robot can provide good service forimproving the standard of living for the old or disabled people. Besides, positioningand navigation is one of the key technologies as well as the core problem for theservice robot. Therefore, the research for positioning and navigation about servicerobot has important social significance and economic value. The main works on thebasis of predecessors’ study are as follows:Firstly, we analyzed the basic principle of the ultrasonic ranging technology,and designed ultrasonic sensors for this dissertation in positioning system. Theerrors of the ultrasonic ranging were also analyzed and corrected, which laid a solidfoundation for the precise location of positioning system.Secondly, on the basis of the analysis of all kinds of positioning technologies,we proposed positioning system based on Zigbee and ultrasonic according to therequirement of positioning accuracy. After the detail description of the positioningprinciple and process of the positioning system, we applied the positioning systemin indoor service robot—intelligent wheelchair. Experimental results showed thatthe positioning accuracy can match the centimeter level, which is in line with therequirement of the accuracy about robot positioning.Thirdly, after the study of the standard particle swarm algorithm, we appliedthis algorithm to service robot global path planning. However, the standard particleswarm optimization algorithm is easy to fall into the local optimum, and oftencannot get the optimal solution of the problem. Therefore, this dissertationproposed an improved particle swarm algorithm. Experimental simulation showedthat the improvement algorithm is better than the standard particle swarm algorithmin optimization.Finally, considering the static environment of path planning often cannot fullymeet the requirements in practical applications, this dissertation designed a multi-channel ultrasonic sensor to avoid these obstacles. Complete the servicerobot indoor navigation combining global path planning with local path planning.