Mobile Robot Developed To Create A Research, With The Simultaneous Localization And Mapping Based On Particle Filter

This thesis focuses on the development of an indoor autonomous mobile robot, obstacle recognition and SLAM (Simultaneous Localization and Mapping) problems for indoor mobile robot.According to the practical requirements of the navigation of autonomous mobile robot, sensor system and its layout on robot, circuits of sonar and infrared ray sensor data acquisition module, CAN bus communication protocols and software for CAN bus communication are designed. A new type mobile robot control system based on CAN bus is also developed, which enhances the reliability, real-time performance and expandability of the control system. A new type mobile robot motion control system based on EPOS motion controller is designed, and the software for its application is also developed. On the basis of analysis of the method and theory of obstacle recognition, and considering that grounds of many indoor environments have obvious texture features, an obstacle recognition method based on texture feature in indoor environment is put forward. Gabor wavelet transform is adopted to extract texture feature from image of the environment acquired by camera to recognize the obstacle. A method of robot simultaneous localization and mapping based on particle filter and probability grid maps using laser range data is proposed, and a program is also designed for this method. The result of an experiment in the corridor shows that this method can fulfill the requirements of robot mapping in indoor environment completely.