ROS-based Key Technologies Research For Mobile Service Robot When Through The Door

In order to move freely in the unstructured home environment or office environment, mobile service robots must have the ability of going through the door autonomously, which can expand the robot’s workspace. This paper researches the key technologies of mobile service robot based on ROS(Robot Operating System) when going through the revolving door and the sliding door, which has important significance.This paper first installs ROS(version hydro) and sets up the ROS environment on the computer of the robot. This paper then makes the robot realize SLAM(Simultaneous Localization And Mapping) and autonomous navigation by using packages from ROS Wiki. In order to control the movement of the robot, the kinematic model of the differential mobile platform is created to analysis the control of the differential mobile platform. The simulation results show the correctness of control.This paper analyses the kinematics of the 7 DOF manipulators. The coordinates of the links and the Denavit–Hartenberg parameters are determined to solve the forward kinematics by using the homogeneous transformation matrix of each link. This paper defines a new coordinate called elbow to solve the inverse kinematics, and verifies the correctness of the method. To open the revolving door, this paper proposes the synchronous control of the 7 DOF manipulators and the differential mobile platform, and determines the relationships about the related coordinate systems.This paper labels different labels on two types of door. The bumblebee2 detects the type and location of the labels by using the SURF(Speeded Up Robust Features) algorithm, which determines the approximate location of the handle and the strategy of opening the door. The location of handle and the point applied force are accurately detected by processing the visual data and the wrist force/torque sensor feedback data. This paper processes the laser data by using the method of straight linear segment and linear fitting to get the information about the width of the door, etc. A-Star algorithm is used to plan the path by processing the laser data.This paper creates the simulation model of service robot and experiment scene by using Gazebo simulator. This paper creates and configures the ROS packages about controlling to make the robot realize the functions of SLAM, navigation and the trajectory control of the 7 DOF manipulators. This paper then designs the HTN(Hierarchical Task Network) planning to plan the sequence of primitive tasks when robot going through the door. In the simulation experiments, the robot successfully opens the two types of door and goes through the door by using the identification and synchronous control method described in this paper. And the strategies can be applied to the task of robot going through the door.