The Design And Implementation Of Mobile Robot Based On Real Scene Modeling System

With the development of computer technology and robotics, mobile robots have been effectively applied in many scenes in recent years. Accurate reality three-dimensional model of scenes is an effective tool that the mobile robots work in different environments.This article designs and implements a reality model of scenes system based on mobile robots. Reality scenes modeling system consists of two submodules. They are reality scenes acquisition mobile robot and reality scenes modeling subsystem.The reality scenes acquisition mobile robot consists of three subsystems:depth of scenes scanning subsystem, trajectory prediction subsystem and mobile acquisition platform subsystem. The depth of scenes scanning subsystem implements the scanning of depth slice of scenes on both sides of the robots current location with the mobile robots equipped with laser range finder. The trajectory prediction subsystem consists of gyro and odometer, and it determines the robots pose by posture Euler angles of robots and traveled distance. Mobile acquisition platform subsystem consists of a mobile robots equipped with depth of scenes scanning subsystem and trajectory prediction subsystem.The scenes slices with the pose information are acquired through the above acquisition systems. Then the point cloud of scenes can be generated from the pose information. The model of scenes can be generated under the scene point cloud. As the laser range finder acquiring huge number of discrete points of space, the expression of the model of reality scenes causes a lot of redundant information. This article also optimized the model of reality scenes and removed a large number of redundant points of the model. For further optimizing the model, plane segmentation on point cloud is introduced before the establishment of model of reality scenes. The points acquired after segmentation are modeled and optimized respectively. Finally, it achieved a better effect of modeling. Then it is completed that the progress of mobile robots equipped modeling system of reality scenes roam and build the model of scenes in unknown scenes.In the end, acquisition software and modeling software are designed to facilitate the task of the actual collecting.