Research On Mobile Robot And Its Indoor Positioning System

Autonomous navigation of robot is a hot issue in current researches. From patrol robot in nuclear power plants to the service robot in daily life, autonomous navigation is one of the basic functions of these robots. To realize the reliable navigation of robot, precise positioning is the basic premise. Because of the complexity of the indoor environment, considering the advantages and disadvantages of various indoor positioning algorithms, the integrated positioning algorithm based on the inertial navigation and dead reckoning algorithm has been adopted to achieve a high precision positioning of mobile robot.Firstly, the hardware platform of mobile robot has been set up. Considering the basic motion function demands and indoor positioning demands, STM32 controller was used as the main control chip of the robot. The power supply, motor drive, motor velocity, MEMS sensors and communication modules were respectively designed and debugged.Secondly, the principle of inertial navigation system and dead reckoning system was introduced respectively. The digital updating algorithm and error equations of were deduced respectively. Then according to the characteristics of the mobile robot movement, the error equations of the inertial navigation system and dead reckoning system were simplified appropriately. The kalman filter was adopted to fuse the error models of these two systems to obtain the optimal error estimation. Then, the estimation error was used to modify the attitude, velocity and position information. In this way, we can get high precision orientation and positioning information of the robot.Finally, program C was used to design the software and real-time positioning test was done on the robot platform. The positioning results of circular and rectangular trajectories were respectively compared with real trajectories, and the experimental results show that this algorithm can achieve higher precision of robot localization.