| The development and application of mobile robots are of great significance to the development of intelligent manufacturing.Navigation control is the key technology of mobile robot,which determines the intelligent degree of robot.Traditional methods of mobile robot navigation have problems of fixed orbit and low intelligence level.How to realize autonomous navigation has gradually become a research hotspot.In this paper,the autonomous navigation system of mobile robot is studied.The kinematics model of mobile robot based on Mecanum wheel,simultaneous localization and mapping(SLAM)technology and navigation path planning technology of mobile robot are also studied.The omnidirectional mobile robot platform is built and the autonomous navigation system of omnidirectional mobile robot is designed.The main tasks completed are as follows:Firstly,the research status of mobile robot technology at home and abroad is analyzed,and the kinematics model of four-wheel-drive mobile robot based on Mecanum wheel is deeply studied,which provides theoretical basis for the motion control of subsequent mobile robots.After that,the autonomous navigation system of mobile robot is divided into sensor sensing module,SLAM module and path planning module by using modular design method,and the overall scheme of autonomous navigation system of omnidirectional mobile robot is designed according to this.Then the SLAM problem is described and two mainstream methods are analyzed,namely SLAM algorithm based on filtering method and SLAM algorithm based on graph optimization.This paper mainly introduces the improved Rao-Blackwellized particle filter algorithm and Cartographer algorithm,and compares the mapping effects of the two algorithms through simulation experiments.After that,the path planning algorithm in autonomous navigation system is studied.Dijkstra algorithm,A* algorithm and RRT algorithm commonly used in global path planning algorithm are introduced.The principle and flow of these three algorithms are analyzed.According to the comparison of simulation experiments,A* algorithm is selected as global path planning algorithm to improve navigation efficiency.Considering the safety of the mobile robot's movement process,the path planning module optimizes the navigation function based on the global planning and combined with the local path planning algorithm.The algorithm principle of dynamic window approach(DWA),a local path planning algorithm,is analyzed.The abnormal situation in the navigation process is analyzed and the recovery method is proposed.Finally,combined with the kinematics analysis and navigation algorithm research of omni-directional mobile robot,an autonomous navigation system of omni-directional mobile robot based on ROS platform is designed and implemented,and the actual use effect is compared and analyzed.Through field experiments,the effectiveness of the improved RBPF SLAM algorithm is verified,and the obtained results are more accurate.Through the autonomous navigation experiment in three environment types of obstacle-free static environment,obstacle-free static environment and dynamic obstacle environment,the experimental results verify the feasibility of the navigation system and shows that this system can meet the needs of production. |
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