Design And Implementation Of Autonomous Mobile Robot Based On EKF

With the progress of science and technology and the improvement of economy, all walks of life need more and more different kinds of robots. As an important branch of robotics, autonomous mobile robots have been widely applied with its flexible mobility and smart intelligence. However, if we want to let robots provide all kinds of convenient service, the most important premise is that we must have a stable and efficient robot platform, then we can carry out and develop upper service on the basis of the strong stability and extensibility of the platform.This paper aims to design and implement a robust and scalable autonomous mobile robots system which runs indoors. Meanwhile, in order to achieve autonomous mobility of the platform, this paper conducts an in-depth study and discussion about problems of autonomous positioning on the basis of Extended Kalman Filter. This thesis mainly completed the following several aspects:(1)This paper analyzes the physical structure and characteristics of the two-wheeled differential mobile robot, establishes the motion model of the robot, derives and constructs observation model of sensors by combining the odometer and ultrasonic array used in the robot platform. These work provides a model support to realize the function of independent positioning.(2)This article carries out an in-depth study about independent positioning of autonomous mobile robots system, researches and analyses the positioning method based on extended kalman filter algorithm, the motion model and observation model of the robot, and implements the algorithm on the robot platform which is made by myself.(3)This article designs and implements the robot’s hardware system by modular thought on the premise of ensuring the stability and extensibility of the robot platform. The hardware system mainly includes the information processing module, environmental perception module, execution module, external interface module and power module.(4)On the basis of the above hardware system, this article completes the construction of the software system, which mainly includes information processing subsystem, movement execution subsystem, environment subsystem perception as well as the communication interface between each subsystem.