Navigation And Localization And Path Planning Of Mobile Robot

Mobile robot technology involves several fields of research, with the rapid development of computer networks, automation, artificial intelligence and electronic information technology,research on mobile mobile technology has become increasingly more and more widely. Industrial manufacturing, space exploration, disaster site, high-risk work environment and social services and other fields, have provided a broad space for the development of robotics technology. Mobile robot navigation technology is the focus of research in the field,which is a comprehensive research of topics including: navigation,environmental modeling,obstacle avoidance,path planning and other aspects. In this paper,the mobile robot navigation and path planning is studied.For lack of a single navigation system navigation accuracy, designed based on odometer/ GPS / geomagnetic sensor integrated navigation system, Kalman filter the three navigation information fusion system to improve navigation accuracy.Using MATLAB simulation experiment proved that the integrated navigation system can effectively solve the odometer error accumulation problems and improve the accuracy of the navigation system.For basic ant colony algorithm, the global path planning of slow convergence and easy to fall into local optimal solution and other issues, the ant colony algorithm is improved. Use the grid method for modeling the environment map, on the recess portion filled process; to select the next node metastasis probability and make improvements, increase the diversity of ant colony algorithm; pheromone intensity on each node Limited ; reference elite ant system,after each iteration, all paths averaging processing, only contrast the average small path pheromone updating ant colony algorithm to improve the convergence rate. Finally, the use of MATLAB simulation, and compared with basic ant colony algorithm and genetic algorithm,ant colony algorithm convergence rate improved faster and more optimal path search efficiency of the algorithm is more robust.Mobile robot obstacle avoidance system Ultrasonic Ranging close have blind spots,ultrasonic distance measurement data vary widely and appear coarse ranging error and other issues. Infrared and ultrasonic ranging mix ranging solve Ultrasonic Ranging close range blind have a problem; the use of multiple measurements, eliminate unreasonable data, and then averaging method,the measurement data processing,improve the measurement data accuracy and reliability; comparative analysis of experimental data prove the feasibility and effectiveness of the data processing algorithms.On the experimental platform for mobile robot navigation and positioning capabilities of the robot and obstacle avoidance function test verification. Experimental results show that the mobile robot navigation and obstacle avoidance function capabilities to meet system requirements.