Research On Indoor Intelligent Navigation Control Technology Of Wheeled Nursing

With the rapid development of science and technology,robot technology has witnessed great improvement.While there are more and more types of robots,their functions are more and more close to people's daily life.Wheeled nursing robots,which act as special robots for social services,are invented to provide a means of transport for the mobility of the elderly and people who have lower limb disability.For the inconvenient crowd above,the autonomous navigation technology in a complex environment becomes very important.This paper mainly studies the indoor autonomous navigation technology of wheeled nursing robots.Firstly,this paper introduced the existing indoor positioning technology,positioning principle and indoor positioning method.After comparing the advantages and disadvantages of the indoor positioning technology,ZigBee positioning technology is chosen to be one of the main positioning technology of this paper.Movement model for wheeled nursing robot is established and the coordinate system model,running model,indoor environment model of the moving mechanism are established according to the characteristics of sports institutions.An improved algorithm for estimating the approximate trajectory of double tangent lines is proposed on basis of kinematic analysis of the movement.The combination of this algorithm and ZigBee positioning techniques is used in the positioning of wheeled care robots in the indoor environment.The feasibility of hybrid positioning technology is verified by simulation experiment.Indoor raster network map is created according to the indoor environment.A-star global path planning algorithm based on grid method is used to implement the global path planning from the positioning start point to the positioning end point.Local obstacle avoidance path planning based on artificial potential field method is used in the local area where the local path is rather complicated.After the path planning is completed,the PID control algorithm is used to track the trajectory of the global path.Finally,the navigation control system of wheeled nursing robot is designed.The system includes the main control module,positioning module,driver module,mobile client module,obstacle avoidance module,etc.Corresponding hardware circuit and control software are designed according to the different functions of each module.