Research And Designed For Navigation Positioning Control System Of Rescue Robot

Rescue robot can effectively improve the efficiency of the rescue work and reducethe casualty probability of rescuers, plays a more and more important role at the sceneof the rescue. To make this as the research object is of high theoretical and practicalsignificance. The subject researches robot navigation and path planning algorithms, atthe same time has carried on the detailed design to the system. The main content ofresearch is divided into three parts.(1) Based on TI’s TMS320F2812as the core and match with external inertialnavigation system acquisition circuit, give the Robot navigation control system designscheme, and design of main function module in detail. TI series DSP chip providesstandard asynchronous serial communication mouth UART is very limited. The topicdesign the TL16C550and MAX490for RS-422asynchronous serial communication,Realize DSP and wireless transceiver module of data exchange, at the same time richsystem external communication interface.(2) Build the strapdown inertial navigation system mathematical model based on thequaternion method. Integrated navigation using the combination of inertial navigationand GPS uncoupled model. Using Matlab design the SIN/GPS integrated navigationsimulation system. Compare the simulation results and the original trajectory analysis todetermine the feasibility of navigation algorithms. Use maze algorithm to simulate thepath choice algorithm. After introduce the commen algorithm for maze, the paperpresents an optimized depth-first algorithm. The simulation results show that, thealgorithm we designed not only improve the efficiency of searching, but also hascharacteristic like less memory space requirements and low speed of the processor. (3) Do the semi-physical experiment for rescue robot navigation and path planningalgorithms. The experiment is divided into two parts, static and dynamic experimentsrespectively detailed analysis of the results. Dynamic experiment error is controledwithin4%. According to the experience of the experiment, we know the error rate hasmeet the design requirements. Thus, the system design scheme and the related algorithmhas a certain practical.