The Research On Autonomous Navigation Of Mobile Robot Based On Laser Range Finder

With the development of science and technology, the fields of human studies and areas of human activity have been extended to the deep sea and land space. Using mobile robots for space exploration and development has become one important way to develop space resources in worldwide technology developed countries of 21st century. When navigate on the surface of alien planet, such as moon and Mars, mobile robots will face a complex unknown environment. Although in the study of mobile robot navigation control theory and methods, a lot of research and application results of navigation and control approach under deterministic environment had been made, but they can not be directly applied to the mobile robot navigation in unknown environments. So this paper mainly researched the problems of the robot's autonomous navigation under complex unknown environments. This paper proposed a kind of mobile robot navigation system based on laser radar and proved that this system had certain forward-looking and can be applied.First, this paper outlined the definition, the development status, the main applications and a typical representative of mobile robots. And, this paper summarized the research status of autonomous navigation for mobile robot, analyzed the problems which was faced in autonomous navigation for mobile robot,and introduced same existed means of autonomous navigation and their pros and cons .Next, the design of the laser-based mobile robot autonomous navigation system was presented in this paper. Firstly, the various components of autonomous navigation hardware system, including the Pioneer2 mobile robot, laser range finders, inertial measurement systems, were detailed. Then, the composition of the designed software function module, basic function and software workflow were presented.Then, the indoor environment modeling based on the laser range finder was introduced. Firstly, laser's Mathematical model was made for the features of the indoor environment. Secondly, the line detection and fitting methods were introduced. A indoor environment feature mapping way which clustered the range data from the laser and fitted lines with least squares was introduced. Then, this paper detailed the interface design, program design of the navigation software system and some related experiments. Finally, this paper introduced some researches on the path planning of the mobile robot autonomous navigation., discussed the pros and cons of the various existed path planning methods, and analyzed some problems unresolved until now. Aiming at some complex unknown obstacle, this paper proposed a path planning method based on behavior control which separated the entire path planning behavior into 3 sub behaviors which was approximation behavior, Obstacle Avoidance behavior, and sub goal planning behavior. Rational behavior change rules were set to control robot change behavior among the 3 rules and cooperate each behavior to finish the navigation task. Mobile robot can only use one behavior at one time. Then this paper detailed the 3 sub behaviors, and did some simulation which proved that this algorithm is effective and verified the applicability of the proposed method for some complex environments. Then 2 deliberation path planning methods for mobile robot were introduced for further research, and their application field and realization method were detailed.