Design Of Indoor Mobile Robot Positioning And Motion Control System

With the development of indoor assist robots,the accuracy and motion control requirements of indoor mobile robots have also increased.The GPS technology mainly relies on the positioning of satellites to the target.Therefore,the positioning accuracy of the GPS system is high in the outdoor environment with less shelter,but the satellite signal is seriously interfered with by the screen and there are multiple layers of problems in the indoor environment.Accuracy can not meet the needs of indoor positioning.The inertial sensors,radio frequency identification technology and other hardware have the advantages of low cost and have attracted people's attention and are widely used in indoor positioning.In this paper,the hardware composition system of indoor mobile robot is designed,and the embedded chip is used as the main control chip for the motion control and data processing of the indoor robot.The robot uses the Hall encoder to collect the motion state of the robot and uses the two-wheel differential path estimation algorithm to accurately locate the robot's indoor motion.At the same time,RFID,attitude sensors and other auxiliary equipments are used to calibrate the position and heading angle of the robot during the course of its travel,which reduces the influence of accumulated errors on the positioning accuracy during the path estimation process.In terms of motion control,the system integrates semi-autonomous motion control,motor drive,ultrasonic intelligent obstacle avoidance,wireless communication,and host computer software.Semi-autonomous motion control is used to control the motion of the robot after receiving the target position,so that the robot can accurately move to the target position.In the upper computer software,set the target position and display the robot's trajectory while adding a database to display and record the robot's position.Wireless communication realizes long-distance data transmission between the robot and the host computer.Design of the two-wheel differential path derivation combined with RFID,posture sensors and other combination positioning methods to achieve the positioning accuracy of the robot within 20 cm within the process of movement.The host computer sends the target position to the robot.The robot can autonomously move to the target position and performpartial autonomous obstacle avoidance to reach the target position.At the same time,the robot can perform real-time display of the robot motion trajectory on the host computer.This system has the characteristics of simple structure,low price and so on,so it can be widely used in indoor surveillance,industrial production and other fields of indoor robots.