Research Of Localization And Tracking For Mobile Robot

Robotic Sensor Research is one of the basic and mainly Technology of Robotic Science. And the application of Multi-sensors Information Fusion is very wildly and useful, and increases the cover of the sensor information. This paper has research some interesting problem on the Robotic Intelligent Control by the Multi-sensor Information Fusion Method. The basic research object is the sensors of sonar, laser and Camera. The main target is Self-Localization and Dynamic Tracking for Intelligent Mobile Robot.Firstly, from the view of robotic Kindmatic Model, the paper expatiates on the law of'Holonomic'and'Nonholonomic'robotic motion, and compares the control effect by the simulation. After that, research the Kinematic Models of 2-wheel, 3-wheel and 4-wheel robots respectively. From this model, the relationship between velocity and pose can be got.And then, the characteristics of the main sensors, like Sonar, Laser and Camera are summarized in the paper. After that, the structure, capability and some sensing parameters of are also discussed.The key point of the paper is the research on the Intelligent Control of the Mobile Robot. Based on the fundamental research before, aiming at one of the main problems of the Robotic Intelligent control, Self-Localization, the paper chooses the Sonar and Laser Sensors respectively to solve the problem. By the analysis of the Sensor Characters, it chooses some different research points, to realize the Self-Localization Algorithm, including the methods Based on the Probability and Map-matching. The purpose of two methods is to get the area information and than to compare with information already known, and then calculate the current positions. The different is the Location by Sonar is refreshed all the time and another one is static for the Laser has high scan precision. After that, based on the idea of Multi-sensors Information Fusion, the paper expatiates on the dynamic tracking to the color object by using the Monocular Vision, which is discussed from the point of color model and Kinematic Control, and presents a Detached Control Method. At last utilize the Dynamic Tracking in the'Multi-robots Round-up System'. At last, by fusion the Laser Information on the direction from the Camera, an accurate distance data can be got.The author designs some experiments on the Pioneer II Robot, to compare the precision between the results before and after sensor fusion, and prove the feasibility of the method. And make a demo of robot tracking the moving football freely.