Design And Implementation Of The Localization And Path Planning Of Autonomous Mobile Robot Based On GPS/INS Technology

Our country is meeting a serious problem that the rural labor reduces because the people of the rural are moving to cities and population aging.To deal with this problem this paper explores in a kind of autonomous mobile robot to replace human.It deals with the problem that it needs a lot of people when the time of planting, cultivating and harvesting crops comes.At the same time increase revenue to increase output for our motherland. It can improve the level of the intelligent agricultural machinery of our country and reduce the gap between the foreign agricultural modernization level and the agricultural modernization level of our country.This paper puts forward a kind of agriculture autonomous mobile robot based on GPS/INS technology, the main researchs are its localization and path planning.Let the autonomous mobile robot complete a predetermined trajectory autonomously and can complete scheduled tasks avoiding various unfavorable factors in the complex environment.Realize the platform of agricultural autonomous mobile robot to move independently to provide the necessary premises for various complex farming work.This paper takes the hardware platform of the robot named Traveler IV which comes from the company named Bo Chuang in Beijing.It applys to the multi-sensor information fusion technology.It uses the VC++ 6.0 as development platform and the C++ as the language of programming development. It use the upper machine to control the under of a machine to realize positioning and navigation and other functions.This design can realize positioning and basic path planning and the latitude and longitude information of each point of the preset map can display on the screen of computer. Sensors of the systerm select Ultrasonic ranging sensor, UP-AHRS module and GPS receiver and so on.System stability is good. This paper studies the main contents include:Analyse the hardware composition and structure of the agriculture autonomous mobile robot based on GPS/INS technology and master the information of each part. Choose the right sensors.This paper discusses the technical implementation and related theory of system research.Studied the basic principle of motion mechanism of the agriculture autonomous mobile robot.Analysis the navigation system of the agricultural autonomous mobile robot based on GPS/INS technology overally, clarify the thought of design and determine the overall principles of design.It determines the overall design scheme and decides the steps of the implementation.Complete the overall design and database design of the system and design all kinds of the modules on the application of the system.Introduced the design of the navigation system of the agriculture autonomous mobile robot based on GPS/INS technology, including the general overview of the system of the hardware platform. Introduce the key modules which are selected in this system.Determine the development environment and software platform of the system.Display the working process and operation process of navigation system of agriculture autonomous mobile robot based on GPS/INS technology.This system chooses the language as the programming language and the VC++6.0 as the development platform which are used in the navigation system of the agriculture autonomous mobile robot based on GPS/INS technology.Through a serial port communication, with the thought of modularization, function of the independent encapsulation in the corresponding folder,ultimately through the fusion of the realization of the function of the realization of each module in this system.It can let agriculture autonomous mobile robot move independently come true.Finally, check the parameters of navigation system of the agricultural autonomous mobile robot based on GPS/INS technology to verify the stability of this system.The place of the expriment environment chooses the stadium in our school as the experimental field, conduct serial times of experiment on the simulation of farmland environment, at the same time in the simulation field experiment does experiment many times and record the experiment datas on site. Analysis of the experimental results comprehensively, let the agriculture autonomous mobile robot platform move basicly.The design of software and hardware comply requirements of the design of this systerm, and has good expansibility.This systerm can meet the basic requirements of the design of agricultural autonomous mobile robot.