Outdoor Autonomous Mobile Robot Navigation System And Its Simulation Software Design And Implementation

Autonomous mobile robot has the ability of self-planning, self -organization and adaptivity. Its goal is moving and accomplishing tasks without human assistance or changing environment. So navigation is an important part of mobile robot field. And it is a key technology of mobile robot intelligence. Although our country has made some achievements, we still fall behind some western countries. And we have few robots applied in the real world. So it is of great theoretic and engineering importance to do this research.The main content of mobile navigation system contains mobile robot localization and path-planning. In order to enable mobile robot the abilities of aptitude and autonomy, the mobile robot navigation system and its simulation software are analysed and researched.First of all, the developing history of mobile robot is introduced and the developing status of mobile robot in domestic and overseas is analysed. The main technologies of mobile robot localization and path-planning nowadays is studied . Based on the requirement, a reasonable overall design of outdoor autonomous mobile robot localization and path-planning is presented.After that GPS localization and DR navigation principle are analysed and researched. The error of GPS localization is large and there are areas where the GPS data cannot be received. The error of DR is initially small but will be larger and larger as the time goes. So the Kalman filter is used to combine the GPS data and DR data to integrate their advantages. It is shown by the experiment, the filter improves the localization precision greatly. In order to analyse the localization, move control and path-plan of the mobile robot. A general 2D simulation software RSP is wrote. It can simulate the real environment and improve the verification of algorithm greatly. Based on RSP, a 3D simulation software RSP3D is designed and implemented. Compared to RSP, RSP3D can simulate the robot and its environment better and improve the effectiveness of the simulation.Then the behavior based motion control method is analysed and is applied in the outdoor mobile robot navigation. By using immune network principle, a behavior arbitration system is built to select behavior. The priority of behavior can be dynamically changed depending on the outside circumstances. The drawback of reactive controlling system is considered, and the planning or reasoning module is added to enhance the system's adaptation to environment and flexibility. In order to verify the feasibility of the algorithm, RSP and RSP3D are used to evaluate the path-planning algorithm. Experiments demonstrate that in relatively ideal condition the robot can accomplish task using the algorithm. Then the algorithm is tested on the hardware platform and the result is analysed.In the end, a summary is made for the whole research work and the future research plan is presented.