Mobile Robot Navigation And Localization Based On Multi Sensor Information Fusion

Auto navigation and localization of mobile robot are two important issues in the study of robot theory and their utilization. They are also the most important core technology to embody robot's ingenuity. The main navigation and localization function are as follows: environment information collecting and modeling, obstacle realization and path planning. In the dissertation, first chapter introduce some history about mobile robot development and the current study state, the form and principle of mobile robot navigation and position system, the percept, principle and configuration structure of information fusion. In the second chapter, after the composition and development system of experimental platform-ASOS is explained, a wireless communication system to ASOS is designed and MODBUS protocol a widely used protocol is selected as communication protocol, in the same time the parameters which used in controlling the ASOS are initially planed, the address of every function register is allocated. The third chapter, on the base of design sensor system and choose sensors, describe the technology of environment modeling based on multi sensor information, through bring a modeling way of classify environment information by environment characteristic, then relevantly found a digital map navigation technology by grid three type environment information, Also simply introduce multi robot share information and cooperation technology and their appliance in environment modeling. The fourth chapter design the navigation system based on multi sensor information. By the environment model said in the above chapter, according to the requirement of mobile robot navigation and localization and for the utilization, explicate the sensor system how to collect and process environment information, the information fusion technology of applying Kalman filter in robot self locating, and the information fusion technology of applying Dempster-Shafer in realizing and avoiding obstacle, also the dynamic path planning technology based on line expend for grid map. In the last chapter, on one side to do or simulate some experiment about the model and theory said in the third and fourth chapter, other side list and synthesis some experiment data to check the effect of relevant theory and way, then through the problem of experiment to find some possible reasons and resolve ways and by the experiment to realize the fault of theory. At last to summarize my total master course about robot navigation and give my group some question and direction in the next profound study.