| With the development of science and technology,the demand for intelligent mobile robots growing,and now the core of the intelligent mobile robot self-localization technology cannot meet the growing market demand.Through acquisition and multi-sensor information fusion technology to try to solve the mobile robot self-localization of technical difficulties.This paper as a background to build their own four-wheeled mobile robot platform,the mobile robot self-localization technology research.Firstly,the mechanical structure of four mobile robot was analyzed,and elaborated on the overall program self-positioning control system,including hardware platform design,software design and self-localization algorithm design.The hardware design has a gyroscope,camera,laser radar,Hall sensors,steering servo,brushless DC motor and electronic speed controller,wireless digital data transmission module.The software design includes lower machine and PC:lower machine by the sensor module data acquisition,motion control and wireless data transmission of the software,from the PC to the mobile robot self-localization process simplex monitoring software.On the basis of the design of the hardware and software platform,built to STM32F103VET6 microprocessor as control core.Four-wheel mobile robot motion platform by collecting information and multi-sensor data fusion,to achieve self-localization of intelligent mobile robots in unknown indoor environment.Finally,the paper from the hardware platform positioning system debugging.Self-localization algorithm proposed in this paper,the entire data transmitted from the positioning of the upper computer,as well as doors and windows to get trajectory positioning characteristic information.Through the analysis of the local coordinate the global environment and the entire indoor robot itself reference system under analysis,the validity of platforms and algorithms,the basic realization Self-locating primary goal. |
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