Study On Simultaneous Localization And Mapping For Auto-searching Track Cutting Robot

Modern cutting robot has been great development in recent years, it is a typical representative of intelligent tracing robot. Cutting robot always occupies a very important position in the field of industrial robots applications. Welding and cutting are the most important processes in modern processing industry. Cutting often is a prerequisite for welding. Auto-searching track cutting robot removed artificially crossed, with a self-tracing function. It can not only improve labor productivity, but also reduce production costs.This paper selects from the mobile robot as vector of. Analysis and describes the status of domestic and international mobile robot research, and introduced the mobile robot simultaneous localization and mapping of the situation at home and abroad, and a brief introduction of some methods are the current auto-searching track cutting robot tracking control used.Using LMS200 laser radar to scan the environment and obtained the environmental characteristics of the original distance data. LMS200 belongs to two-dimensional laser radar, it only plane sweep in a highly, scanned in one cycle of a radar base the value of the frames, and then separated by separating the data point set and line segment extraction, line segment features fitted to the local orientation map.In order to solve two-dimensional laser can not be realized three-dimensional scanning of the environment.This article design a tilt scanner, two-dimensional laser is installed in the tilt scanner head, through the step motor driven laser radar at a certain pitch angle to achieve pitch scanning the environment. And by the relationship between the various coordinate transformation between the scan data, then can obtain three-dimensional information points of the environment and the creation of the grid map.The structure of auto-searching track cutting robot is the front wheel is a universal wheel, after the two were driven by independent motor. Target position and orientation for the polar coordinate establishes system kinematics model. Using point stabilization with Left and right wheel speed as control input to design point stabilization control law. Then control the robot kinematics model, make the pose error tends to zero. Path within the meaning of path tracking is a certain order of a discrete set of points. The control law allows the robot to complete the tracking control point to point. Then completed the tracking for any path, And the simulation results to verify that the designed control law is effective.