| Blind people is the most difficult types of disabilities groups, travel difficulties are the biggest problem that trouble them. The walking aid robot which can guide the blind has gradually become the research hotspot of robot and rehabilitation medicine field at home and abroad.Research on the positioning and navigation is the prerequisite for studying other functions.Outdoor using GPS navigation has been very popular, but there is still no mature indoor positioning and navigation programs. This paper studies walking aid system of indoor environment for the visually impaired population, which can provide safely route guidance with voice prompts, with positioning and navigation functions. According to this requirement, this paper starts to research mainly from the following several aspects:This paper analyzed positioning principle and algorithm which is based on ultrasonic range and built the dead-reckoning model of the double-encoder-based differential driving robot.Datas of three sensors including ultrasonic, encoder and electronic compass are fused via the local and global extended Kalman filter such that the walker aid robot positioning problem was solved. And to solve the problem of ultrasonic signal interference, the work node scheduling policy for multi-robot localization is established.In order to overcome the shortcomings of using Dijkstra algorithm or ant colony algorithm alone for path planning,a combination of the two algorithm combined ——D-A optimization algorithm(Dijkstra-Ant Algorithm) was proposed. By Analysis of this algorithm’s implementation steps, the simulation experiment was carried out.The localization and navigation system of the walking aid robot was designed. Firstly, the whole structure of positioning and navigation system is planned, and then selecting hardware and software designing were carried out. The sub-module comprises a main control system, the positioning system which is based on ultrasonic range, and the dead-reckoning system and the voice prompt system.By building the walker aid system and arranging the experiment environment,the localization and navigation experiment which is based on the ultrasonic range and the dead reckoning was conducted,along with the positioning expe riment based on ultrasonic method for single and multiple robots. So feasibility of the research methods in this paper was verified.And then though a joint commissioning localization experiments based on the ultrasonic range, that the ultrasonic positioning method improve the positioning accuracy was verified. |
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