Design Of Indoor Robot Platform And SLAM Development

With the continuous improvement of sensor technology,communication technology, computer technology,intelligent robot technology has become one of the most popular research areas.Wheeled mobile robot platform mixes motion control,computer vision,path planning, wireless communication,intelligence fusion together,and can be used to supply experimental platform and test reference.With design and experiment,we study the implementation method of indoor robot platform design,and propose a system architecture based on wheeled drive,SLAM(Simultaneous Localization And Mapping),multi-sensor,wireless communication.The main work of this issue include:1.Propose the control structure based on mobile computing platform with ARM coprocessor, and the system structure of cooperative control and motion control with multi-sensor.System adopts modular design,and can support multiple high-level language programming,with a high-speed signal processing,multi-threaded control and network transmission capacity.2.SLAM design based on laser sensor,set obstacle avoidance,self-positioning and map building together to realize the SLAM of indoor robot.With the image sensor for target tracking and path planning,the key functions of indoor robot can be achieved.3.Based on open-source platform to design,the system provides richer interfaces,and can combine a variety of sensors of the trials to provide reliable,feature-rich configuration.This paper describes in detail the system implementation from mechanical design to electrical component design,to the algorithm of the whole process,the system performance are given through experimental results.Finally,sum up the difficulties and solutions,and made the further improvement direction of the robot platform and its application in indoor SLAM.