Research On The Robot Localization System Based On MEMA Gyroscope And Accelerometer

In recent years, with the deepening of the research on mobile robot and the expanding of its application field, people’s demand for positioning and navigation is growing.How to make mobile robot position itself accurately in complex environment, so that the robot can complete the task with high quality, is becoming a concern of everybody. Although many experts and scholars have put forward a lot of technical solutions, such as satellite positioning technology, unlimited local area network.etc. Limited to the construction cost, time, positioning accuracy and complex environment conditions, this positioning technology is unable to good use.Compared to the passive location technology mentioned above, this study put forward a kind of active positioning technology, it collects and calculates the acceleration and Angle of the robot motion to determine the location of the mobile robot. It is a beneficial supplement and try for the research of the mobile robot localization technology.The traditional positioning system is mostly depend on collecting the pulse number of the encoder to calculate the distance, then gets the location information of the robot after operation. This method is effective in normal circumstances, but when the robot is in the abnormal state of motion, such as when the mobile robot meet obstacles and its wheels idling, this method is not reliable and it will make positioning system disorder, even cause serious consequences. This research is devoted to the study of robot positioning system based on gyroscope and accelerometer. This system collects the acceleration signal of the acceleration sensor, then gets the displacement signal after twice integra, then compensates each other with the measured signal of the Angle sensor,eventually gets the accurate positioning information, this method is effective to avoid the disadvantages of the traditional encoder positioning, It’s a new way of thinking in the field of mobile robot localization system.This mobile robot positioning system is completed by the MEMS gyroscope and accelerometer. In this paper, the 51 single chip microcomputer development platform is used to design the hardware of the positioning system. The experimental platform is constructed and the writing of the software is completed. Through the experiment, the experiment results are analyzed and the improvement scheme is proposed.Compared to the passive positioning technology like the GPS positioning technology, it has the advantages of simple structure, low cost. Compared to the encoder positioning technology, it can effectively prevent positioning failure from the wheeled robot meeting obstacles and wheels idling.This study can meet the robot localization requirements in the warehouse, room, robot competition venues and some limited range venues or some potentially dangerous environment for human to work into.