Research And Realization Of Key Techniques For Mobile Robot Navigation

One of the prerequisites for mobile robots to help society generate great benefits is that it can operate autonomously and is not artificially involved.One of its core technologies is autonomous navigation.Autonomous navigation is a mobile robot in a pre-known or unknown map environment model,from one location to another location to guide the robot to complete the task of pre-arranged for the robot.There are three issues to consider when a robot travels from one location to another,including the location of the robot’s map environment,where the robot arrives,and how the robot reaches the designated location.The above three questions are actually three major navigation systems content: map creation,robot positioning and path navigation.This thesis is based on the research and development of power intelligent inspection robot project of water conservancy and hydropower industry,and its key research is the realization of robot mobile navigation technology.Which includes the modeling of the map environment,mainly uses the topology map to abstract the environment information of the robot navigation.The ORB-SLAM and the ultra-wideband combination positioning method are used to locate the robot.A shortest path based on the greedy strategy is proposed to deal with the intermediate node set Algorithm,a simple but efficient local path obstacle avoidance algorithm is proposed,and the problems such as deviation from heading,velocity and direction are encountered in the process of robot walking.The details of the work and contributions made in this thesis are as follows:(一)the use of PHP + MYSQL + IIS development of a set of web PC system.Mainly for the staff to view the robot state,the robot position;write code to achieve the Dijkstra shortest path algorithm,that is,given the destination,the system can generate a global minimum navigation path;write code to achieve a greedy strategy to deal with intermediate node set The shortest path algorithm can control the movement of the robot through the visual interface,and use the multi-thread and non-blocking communication mechanism to realize the communication between the robot and the host computer system,transmit the global navigation path data,the location data of the robot and control the movement data of the robot.(二)Using C / C ++ language to design a set of mobile robot navigation main software system.The robot body adopts two mini computers,a control robot movement,a local path planning obstacle avoidance algorithm,control the robot movement speed and direction,and run the UWB positioning algorithm.One computer deals with ORB-SLAM algorithm and Kinect camera data,and sends the resulting data through the form of Ethernet to another computer.(三)In this thesis,the advantages of ORB-SLAM positioning algorithm and UWB algorithm are combined,and different algorithm localization methods are designed in different locations in the map environment.Robot in the straight line using ORB-SLAM positioning algorithm,and the robot is turned when the ultra-wideband positioning algorithm.This method also greatly improves the positioning accuracy of the robot,and the external interference is also improved significantly.At the same time,this thesis also proposes a shortest path based on the greedy strategy in the case of the intermediate node set in the global path navigation process algorithm.Finally,this thesis proposes a simple but efficient and fast obstacle avoidance algorithm for the specific map environment of hydropower inspection robot in local path navigation,which can make the robot quickly avoid obstacles.