Mobile Robot Integrated Navigation System Design And Application Of Research

In this paper the application of integrated navigation system to the design of ground moving robot is mainly studied. The miniature ground moving robot is the object in this study. With the system, the ground moving robot can accomplish its appointed tasks independently or semi-independently on the battlefield or under the environment that man cannot master or that is very dangerous. So it can avoid losing the lives which would be saved. The research provides much experience for the design, exploiture and development of the ground moving robot's navigation system. Besides, it offers a new way for the realization of the navigation system.The main working environment of the miniature ground moving robot is battlefield, storied buildings, cross-country and so on. Further more, the robot is supposed to accomplish appointed task independently or semi independtly. Aiming at the above two points, an integrated system that is mainly composed by Dead-Reckoning and GPS navigation, assisted by light reflecting navigation and ultrasonic navigation is designed as the navigation system of the miniature ground moving robot.Seven kinds of sensors are used to get the information of the miniature mobile robot's position and poses in the design of the integrated navigation system. In order to use the information effectively and apply the information to the navigation, Kalman filter is utilized to fuse the information from all sensorsMoreover, to make up the shortage that the main control system lacks in interfaces, a module is designed to receive the navigation information. The MCU of AT89C51 is the core of the control system. There are four RS-232 serial interfaces; four analog signal input interfaces and three digital switching signals. They are respectively used to receive and process the information from sensors. At the same time, the module sends the information of sensors to the main control system by three 8-bit IO interfaces.The system proved to be of high performance by many experiments that can answer the needs of the miniature ground moving robot's navigation.