Researching On Localization And Navigation Of Intelligent Robot Based On SLAM Algorithm

This paper proposes a set of indoor navigation solutions for Ackermann wheeled robots.An autonomous mobile robot based on ROS(Robot Operating System)is designed.In combination with SLAM technology and path planning algorithm,robots can autonomously move between target points and can avoid obstacles.The USB-based rosserial client library has been ported and the ROS node program of the single-chip microcomputer has been implemented in the MDK development environment.Robots can communicate with each other over a local area network.The autonomous movement of the robot in the simulation tube corridor environment was achieved.The main issue that needs to be studied is how the robot learns and constructs the environment model,avoids obstacles under unknown environmental factors,and find out a path that can be driven.The construction of the environmental model is mainly based on the SLAM algorithm to construct the occupied grid map.The difficulty lies in how to rely on a single laser sensor to estimate the robot pose and establish the environmental model.This paper analyzes the kinematics model of the robot.The robot movement steering mechanism adopted in this project is Ackermann steering mechanism.It conforms to the Ackerman steering theorem,and cannot rotate in place.There is a non-zero turning radius at the steering time.Path planning and obstacle avoidance need to take into account the mechanical constraints of the robot.In the research process,the subject has completed the construction of a robot for follow-up research and promotion.In the process of construction,we must consider the architecture of the robot's software and hardware,the controller and the communication mechanism of the decision-making module.In order to facilitate the development,we have implemented the robot node on the controller.The program communicates between the computer and the controller through the USB communication protocol.Each algorithm module of this topic has been described as a node.The ROS system navigation package was used as the basis for the research.