Positioning And Navigation Of Autonomous Shopping Guide Robot

With the rapid development of human society,robot technology is gradually changing people's way of life.For the problem that the increase in the number of goods has made it difficult for shoppers to quickly find the location where they want to buy goods,this paper has developed a self-positioning and navigation system based on omnidirectional shopping guide robot.This robot can autonomously guide shoppers to the location of any product in the mall.In order to make the system good scalability and high code reuse rate to facilitate the follow-up in-depth study of shopping guide robot,this paper chooses the most common ROS(Robot Operating System)as the software development platform,and studies the key technology of autonomous guided robots.Firstly,aiming at the problem of particle scarcity caused by resampling in particle filter location,this paper proposes to dynamically add random particles to reduce the positioning error by particle swarm optimization.At the same time,the particle set distribution is approximated by adding the KL distance,and the number of particles for the state estimation can be changed to reduce the amount of system calculations in real time and adaptively.Secondly,due to the problem that more shoppers and more dynamic environment make it difficult for robots to avoid obstacles,this paper combines A-star with DWA to apply to the path planning of shopping guide robot to improve its mobility flexibility.At the same time,for the complexity of shopping malls and the risk of large collision situation,in this paper,we propose a combination of laser scanning and deep image to accurately perceive the environment,which not only have the characteristics of wide detection range,high precision and real-time performance in two-dimensional laser scanner,but also have the advantage of Kinect depth camera.Experiments show that this method works effectively and can effectively complete the three-dimensional space collision avoidance.Finally,with the omnidirectional shopping guide robot as the experimental platform,this paper realizes the above-mentioned positioning and path planning method.The experimental results show that these methods can help the robot tocomplete the autonomous positioning and navigation.