Research On Navigation And Positioning System Of Home Care Robot Based On Multi-sensor Fusio

In recent years,with the rapid economic development and the advancement of medical technology,the problem of population aging has become more and more prominent.How to take good care of the elderly has become a social problem that needs to be solved urgently.With the development of robotics technology,escort robots have gradually entered the households of the general public.Aiming at problems such as the accuracy of traditional robot navigation and positioning system is not up to standard,this paper designs a home escort robot navigation and positioning system based on multi-sensor fusion.The main research work is as follows.First,the functional requirements of the navigation and positioning system of the home escort robot are analyzed,the overall structure design of the positioning and navigation system is completed,the hardware system and the software system are respectively designed,and the selection of key equipment is completed.Then,the Cartographer algorithm based on graph optimization is studied.In order to solve the problem of inaccurate track estimation caused by wheel slip,the three types of sensors,lidar,odometer and IMU,are integrated to improve the positioning accuracy of the escort robot.An enhanced fusion and improved Cartographer algorithm based on sampled data alignment is proposed,which effectively solves the problem of pose lag in the existing navigation and positioning methods.The positioning effect of the pure positioning mode of the Cartographer algorithm is compared.Then,for the path planning problem of the escort robot,combined with the family scene,an environment modeling method based on the topology visualization method is proposed,and the improved multi-source Dijkstra algorithm is used to realize the shortest path planning between any two nodes.Aiming at the motion control problem of the escort robot,a simple algorithm of segmented motion control is studied.However,due to the discontinuous linear velocity and angular velocity control,and no dynamic obstacle avoidance problems,a trajectory tracking algorithm based on backstepping method is designed.,And proposed a solution for dynamic obstacle avoidance on this basis.Finally,an experimental platform for the navigation and positioning system of the home escort robot was built,and the realization of each functional module and the experimental results were explained,and joint debugging was carried out in the home environment.The test results show that the positioning algorithm,path planning,and trajectory tracking algorithm of the home escort robot designed in this paper are stable and reliable,which verifies the feasibility and effectiveness of the system.