Research And Implementation Of Indoor Wheeled Robot Autonomous Motion Method

Autonomous movement means that the robot can complete the movement independently without human intervention.Autonomous movement is an important manifestation of intelligence.Robots with autonomous motion capabilities can be widely used in-home care,intelligent photography,public services,and other fields,and have broad application prospects.This paper studies several key issues involved in the autonomous motion methods of indoor wheeled robots,including the following:(1)The corresponding analysis and model construction of the three sensors used in this paper,and proposed improvement measures for the problems of the three sensors,and then introduced the PID adjustment control system to make the data obtained by the sensors more stable with accuracy,the calibration of three sensors is achieved.(2)Aiming at the problems of multi-sensor fusion and insufficient autonomous positioning accuracy of the robot during the movement process,this paper proposes a multi-sensor fusion method based on extended Kalman filter,which effectively acquires the environmental information around the robot itself,and cooperates with Monte Carlo.The positioning method is used to complete the precise positioning of the robot during its movement,and the probability map is used to construct a map of the environment around the robot.(3)In terms of path planning,a planning method based on the combination of A * global path and artificial potential field method for local path planning is proposed,and the types of obstacles detected are discriminated against.Global path planning is performed in a static environment;when a dynamic obstacle appears within the detectable range of the robot environment,a local path planning method is used.Aiming at the problem that the traditional artificial potential field method is easy to fall into the local minimum solution,a method that removes the obstacle that has the least influence on the robot and makes the robot escape from the local minimum is adopted.Through simulation experiments and practical tests of wheeled robots based on the ROS platform,the results show that the method proposed in this paper can achieve autonomous motion of indoor wheeled machines and has good robustness.