Research On The Navigation System For Mobile Robot Based On GPS

Mobile robot is an important branch in the field of robotic research. The goal in our research is to develop a mobile robot which is able to fulfill a task for definite applications. The technology of positioning and navigation is the very important topic on the research of mobile robot. The positioning and navigation system is the base of mobile robot. The advanced system of positioning and navigation is the concentrated expression of the intelligence of mobile robot.Global Positioning System (GPS) is a precise, new-generation, satellite-based positioning system. The plan of the navigation system, which is based on GPS, is put forward by studying current situation of navigation system. It aims at researching and developing an accurate and reliable navigation system for mobile robot and upgrading the intelligence of mobile robot. The main achievements are presented as follows:1. The research developments are presented. One is about mobile robot; the other is about the navigation system for mobile robot. The platform of the mobile robot is introduced. The necessaries of this paper are presented.2. The theories of GPS are presented, such as the structure of GPS, positioning principles, the technique about difference calibration and positioning errors. The data format of GPS is analyzed. The serial communication is designed using the API function of Windows.3. The navigation system for mobile robot based on GPS is proposed. The task of navigation is completed by the mode of GPS, azimuth sensor and electronic map.4. There are many advantages of the multi-sensor information fusion in the navigation and positioning system for mobile robot. Therefore, the positioning system for mobile robot based on GPS is proposed. GPS data, azimuth sensor data and optical encoder data are fused using the simple algorithm, which is based on adaptive weighted fusion estimated algorithm of multi-sensor data. The positioning precision of mobile robot is enhanced.5. The advantages of fuzzy neural network are analyzed. The algorithm for mobile robot to avoid obstacles is presented, which is based on fuzzy Kohonen clustering network. The correspondence between the data of ultrasonic sensors and the velocity of mobile robot is designed. The simulation indicates that the algorithm is efficient and feasible.