Design And Implementation Of Mobile Robot Chassis Based On ROS

Mobile robots are widely used in various fields,mainly replacing people in corresponding work,saving social resources and improving work efficiency.Mobile robot chassis is an important part of the robot.It not only affects the control performance of the mobile robot,but also carries the functions of robot positioning,navigation,movement,obstacle avoidance,etc.It is an essential component of the robot.Therefore,a good chassis hardware and software system is an important guarantee for the diversification of robots and the improvement of mobile robots.Aiming at a kind of commercial mobile robot with speci al requirements of safety and reliability for battery recharge,this paper designs a chassis scheme,which is compatible with the ROS framework of the main open source robot operating system in the industry,including walking control,obstacle signal detection,battery recharge detection and control,and in view of the bank service robot project,the design and implementation of a mobile robot chassis based on STM32 are completed.The specific work of this paper is as follows:(1)For the mobile robot chassis based on the upper layer development of the robot,a universal mobile robot chassis control board with rich interfaces and strong security protection and corresponding control system is designed.The control board is mainly composed of an STM32 processor,and is mainly composed of a power management module,a serial communication module and an external interface module.In this paper,the chassis motion information and surrounding environment information are collected by external sensors such as encoder,ultrasonic wave and infrared receiver on the control panel;Designing a chassis management node for communicating with the ROS layer node of the robot chassis.The node is responsible for identifying,parsing and publishing chassis data for other nodes to subscribe,and forwarding control commands of other nodes to the chassis,which is a communication bridge between the ROS and the chassis;The Base-Ros protocol and the Remote-Control protocol for the communication between the chassis and the ROS layer and th e remote controller are respectively designed to realize the motion control of the robot chassis by the ROS layer and the remote controller.(2)In view of the limited power supply of the robot battery and the inability to work for a long time,a robot automatic recharging subsystem without human intervention was designed.The recharge subsystem includes two modules of hardware circuitry and software programs.The hardware module includes the design of the robot charging protection circuit and the charging pile infrared transmitting circuit.The charging protection circuit fully considers the interaction and safety of the robot and the charging pile,increases the sensing circuit and safety protection of the robot and the charging pile,and ensures the charging system Security.Based on the hardware of the charging subsystem,an automatic back-charge algorithm based on infrared signal is implemented to guide the robot to accurately connect with the charging pile in the short-range.The infrared-based automatic recharging system realized in this paper has a simple structure,low development cost and strong practicability.(3)Set up an experimental platform to test and verify the chassis control system and automatic recharging subsystem.Based on QT development c hassis test tool,the chassis operating voltage,sensor data and other information can be visualized to assist in the analysis and verification of the correct function of the chassis.Test the distribution of the infrared signal of the charging pile,and pl ace the robot in different fields for multiple docking experiments to verify the accuracy and reliability of the automatic recharging system.The experimental results show that the chassis control system and the automatic recharging subsystem work normally.