| Navigation of autonomous mobile robot is an important issue in robotics and its application and forms an important part of the core technology of intelligent robot. Map building and localization,as well as the motion control are the key problems in the technology of mobile robot navigation.A method of mobile robot map building and localization based on laser range finder in unstructured environment is first described. Aiming at the drawbacks that laser range scanner based matching performed by traditional iterative closest point (ICP) algorithm might get into local extrema when severe occlusions occur, the thesis proposes the iterative dual closest point based clustering (IDCP BoC) algorithm. Experiment performed on the AS-R robot platform with the data obtained from odometer and laser range scanner showed that the method improved the accuracy of map building and localization efficiently and might have practical values.The thesis treats the motion control as one of the key techniques for mobile robot navigation, and adopts iterative learning control methods in acquiring the mobile motion model, and then an iterative learning control system is established for the mobile robot trajectory tracking with the control law designed. Simulations and experiments verified the effectiveness and feasibility of this approach that achieved the desired requirements. |
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