Research On The Motion Control And Integrated Navigation Technology Of The Mobile Robot In The Corridor

With the acceleration of global urbanization and the speedup of social aging,mobile robots working in corridor will be paid enough attention in the fields such as patrol security,public guidance,electronic commerce and so on.In this paper,a two-drive mobile robot working in corridor was designed and processed,and further researches were conducted into the technology of robot's motion control and navigation.Firstly,based on the robot's functional requirements and its application environment,the overall design of the robot was performed using the idea of distributed architecture,including the solutions of chassis structure,control system,motion control and integrated navigation.Next,the motion control system based on the two-drive robot was designed,including hardware selection,circuit construction,motion control algorithms and software based on the embedded system ?C/OS.After that,the combined positioning system in corridor was designed.The formula of the robot's dead reckoning was used to realize the relative positioning.And then,the corridor features collected by laser radar and the house number features collected by camera were combined to realize the absolute positioning.Thus,the goal of robot's global positioning system was achieved.Then,the A-Star algorithm based on the raster map was used to find the global optimal path.And the turning points in the path were extracted as the intermediate target points.In order to achieve the robot's global path planning system,the angle potential field method was used to find a path without static obstacles between the adjacent intermediate target points.And then,the main control software in PC was developed by using the software framework Qt4.8.6 under Ubuntu 12.04,including the design of the software interface,the allocation of the threads and the flows of the tasks.At last,experiments were done to test the mobile robot's motion control system and integrated navigation system,including motion control experiments,combined positioning experiments and path planning experiment.The results showed that the motion control system can ensure the robot to move along the expected trajectory;the combined positioning module can ensure the positioning accuracy of the robot within the allowable range;the path planning module can be applied to help the robot to avoid the unknown obstacle in the corridor while searching for the shortest path.