| With the continuous development of autonomous mobile robotics, the mobile robots are expected to independently accomplish more and more complicated tasks. The problem of autonomous navigation must be solved firstly, with the ability of SLAM (Simultaneous Localization and Mapping) in unknown environments as the prerequisite, in order that the robots can work in more complex environments.According to the function and architecture of autonomous mobile robot, sensor system and its layout on robot, circuits of sonar and IR sensor data acquisition module, CAN bus communication protocols and software for CAN bus communication are designed and a new type of mobile robot control system based on CAN bus technology is developed. A new type of mobile robot motion control system based on EPOS motion controller was also designed, together with the software for EPOS application. Based on all of the work above, the QDU-â…¢autonomous mobile robot was successfully designed and developed. A method of robot simultaneous localization and mapping based on particle filter and probability grid maps using sonar range data is proposed, and a program using C++ programming language was designed for this method based on SLAM program flow chart. The robot mapping experiments was carried out in corridor, and the results shows that the method of robot simultaneous localization and mapping based on particle filter and probability grid maps proposed in the paper can follow the track of mobile robot effectively, meeting the requirements of robot mapping in indoor environment completely. |
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