Positioning And Navigation System For Intelligent Biped Robot

For the autonomous mobile robot, it's positioning and navigation problems have always been the focus and difficulty in the field of robot research. Which mainly include the construction of the hardware entity of the mobile robot, the precision control of the mobile robot and the positioning and navigation of the mobile robot. At present, there are a lot of methods for positioning and navigation of mobile robot. In which, the inertial navigation system is usually used for short-term positioning as it will accumulate the positioning error, and other constrained navigation method such as magnetic navigation, visual navigation, need to set up some special tags, so the application scope is very limited. In order to realize the autonomous navigation and make the mobile robot more flexible, this thesis completes a coordinate based intelligent biped robot positioning and navigation system.This thesis mainly studies the positioning and navigation control system of intelligent humanoid robot. The intelligent humanoid robot used in this paper is HBE-ROBONOVA-AI robot, which has 17 degrees of freedom, and the ARM is used as the main control chip. Zigbee network is used to build the robot's positioning system, and solve the communication problem between the robot and the upper computer, the control algorithm based on C is used in the ARM-Linux environment to achieve the autonomous navigation control of the robot, and the MFC framework is used to develop the upper computer to control and monitor the robot, so the positioning and navigation system of the whole intelligent biped robot is completed. The main research production and contents are as follows:(1) Planning and design the whole intelligent biped robot positioning and navigation system, divide the system into five parts of work, such as wireless communication, blind node positioning, robot navigation control, robot action design and upper computer monitoring.(2) Developing the communication and positioning application in the application layer of Zigbee protocol stack and built the communication and positioning system of Zigbee wireless network. The communication between Zigbee nodes and the positioning of Zigbee blind nodes are realized, and designed the communication protocol between host computer and the robot.(3) According to the characteristics of the controlled robot, a navigation control algorithm based on the coordinates is designed, and the navigation control program is developed on the robot intelligent board(ARM-Linux).(4) The action of the robot is analyzed, and the action program is developed on the base of the robot.(5) the MFC framework is used to develop the upper computer monitor program with interface, and the robot is monitored in real time and the mobile map of the robot is drawn on the interface of the monitor program.The system realizes the absolute positioning of the mobile robot, and the positioning error cannot be accumulated in the navigation process, and in theory, the positioning and navigation range can be expanded, and it has a good application prospect.