The Design And Realization Of The Robots Used To SLAM

As the essential question of mobile robot, SLAM caught the popular attention, when it was defined in1988. It was deeply studied and put into engineering application. The value of research and utility was obvious more and more.The entity implementing SLAM is the mobile robot. Usually the robot in the real world start at the initial position, with the help of sensors, the robot can Achieving tasks of two parts: estimating their own position——localization; building a suitable model of the world——mapping.In this essay, the questions which field SLAM can be used and how to achieve the basic function of SLAM were discussed. There are some important points like multi-sensors used in location and ranging which is the basic technology of mapping. Making the demand analysis of SLAM robot, comparing several schemes, we had designed a suit of SLAM robot system. With the body of physical construction, the motor driver helping it moving, sensors used to get information from the environment, the embedded computer controlling its work and so on, the robot had the ability to conduct an experiment of SLAM.The main content of the paper include:1. Presentation of the technique of SLAM and its important value and introduce its development of domestic and overseas along with the mobile robot used in SLAM;2. Talking about the mobile robot system structure, basic working principle, and the actuators, sensors, communication, controller in the system, the division and definition of each parts, as long as the main situation of hardware and software;3. As the most important function in localization and mapping, ranging is discussed in this paper, and we propose a solving scheme of using Kinect depth camera as the ranging equipment in the SLAM robot;4. In the mobile robot solutions, we had designed the mechanical body, power systems and driver controller;5. Analyzes the required data used for localization and mapping, and the sensors used for obtaining information, implement sensors like compass and accelerometer, which used in the experiment of multi-sensors data fusion;6. Achieve a set of wireless communication solution, put it into use of data and command transmission, we can use it testing robot and observe the robot working status in the real time monitoring;7. A series of configuration software and real-time control software were realized for the functions of SLAM robot;8. Finally summarizes the main work, put forward the prospect of further.