The Whole Positioning System Research Of Mobile Robot

Since the first robot invented,the study of robot has been a hot spot in scientific research. With the development of science and technology, the intelligence of robot is more and more high, also the application field of robot become more and more widely. The positioning system is absolutely necessary function for the intelligent robot to complete a task. Therefore, the positioning requirement is demanding more from the robot. The main purpose of this paper is researching on mobile robot positioning system, which is based on the embedded control system of gyroscope and encoder. The whole positioning system designed as a basic component for indoor mobile robot. The paper includes contents as follows:Firstly, according to the direction of research, learn about the domestic and foreign development status of the robot. Classify the positioning system of mobile robot. Introduce and analyze the positioning principle,advantages and disadvantages of each method briefly. Through comparing several methods, choosing the mileage positioning method is more appropriate.Secondly, understanding the premise of input and output of the positioning system, make a overall design of the system. According to the general framework of the positioning module, analyze mechanical systems of the positioning device. Select appropriate wheels and design a simple mechanical structure. Based on the tasks which need the robot complete, give a brief analysis of interface circuit. And then according to the work steps, analyze algorithm of the positioning module.Again, according to the mechanical design,manufacturing technology and the simple mechanical structure designed before, analyze the cause for deviation of the positioning device. Under the guidance of error sources of the model, analysis of mechanical system, design of the mechanical structure, parts processing and assembly process to make a overall structure modeling. And design the mechanical structure of each module in detail.Then, make a detailed analysis of the peripheral interface which the positioning device need. And select the appropriate chips according to the interface requirements. Based on chip manuals, design schematic of each module. Set PCB board size and shape according to the mechanical structure of the housing package. Determine the position of the special components, and then place common components. Try to adjust the layout and wiring. And then check the wiring rules and make circuit board.Finally, establish a whole positioning movement model of the mobile robot. And according to the motion model to analyze positioning algorithm of the mobile robot. Make a top design of the software, and design the program into work mode and debug mode. The positioning device is carried on the mobile robot platform for experiment. Collecting data and combining with the experimental data to analyze motion displacement curve of the mobile robot. The experiment shows that: positioning device get good effect in a short time.