Design And Implementation Of Platform For Autonomous Mobile Service Robot

In recent years,people's pursuit of non-material demand is increasing,hoping to get better service quality.Therefore,the robot has also realized jumping development,from replacing human being engaged in monotonous and repetitive labor,it began to enter people's daily life,and it has quickly got people's attention.This research is based on the service robot project of robotics research center of University of electrical technology,and designs the third generation of service robot SRU-III.The application scenarios of SRU are mainly indoor places for exhibition hall,and we need to be able to guide people to visit and explain independently.The research of this thesis is carried out in the following aspects.First,according to the application scenarios and functional requirements of robots,the system structure of SRU-III is designed,and the robot's equipment is selected.The system architecture of robot is distributed control mode.It is divided into three levels from top to bottom.The uppermost layer is Android tablet computer,which is responsible for human-machine interaction;The middle layer is a mini PC,which is responsible for robot algorithm calculation and communication transfer;The bottom is STM32F407 embedded controller,which is responsible for robot hardware driver and sensor data collection,encapsulation and uploading.Then we design a software system based on ?C/OS-? and ROS.In the bottom control,robot switch machine task,motor control task,communication processing task and sensor data acquisition task are realized.In ROS,communication nodes,data processing nodes and robot fuzzy controller nodes are designed.Finally,In this thesis,a combination model of information fusion is designed for the SRU-III sensor system,and a robot obstacle avoidance algorithm based on fuzzy control is designed.The algorithm blurs the obstacle information collected by the laser radar and the infrared sensor,and designs the fuzzy rule base according to the actual experience,and obtains the direction of the obstacle avoidance of the robot.Experiments on SRU-III show that robots can circumvent obstacles when they encounter obstacles.