The Research And Application Of Sweeping Robot Autonomous Localization Algorithm

How to realize Simultaneous Localization and Map creation in unknown environment(Simultaneous Localization and Mapping,SLAM)is a hot topic in the robot research.The research about SLAM problem is of great theoretical and practical value for realizing the robot's highly autonomous and intelligent.In recent years,with the development of image processing technology,based on the visual sensor to achieve SLAM system technology research has become an important research direction in the field of SLAM research.This paper revolves around the research and application of the autonomous localization algorithm of sweeping robot,and the research and development of sweeping robot is essentially realizing the single-mesh SLAM system,and realizing the correlative technology and arithmetic of this system must be combined with the demand of sweeping robot.the sweep robot's first task is clean,but when the robot cleaning the room,it will encounter obstacles.At this time,the sweep robot need to achieve obstacle avoidance and path planning.Based on the problems that may occur in the process of sweeping,this paper focuses on the SLAM system framework,and compares the performance of various methods.Through the compare of those methods find the best method for sweep robot develop.Based on the SIFT algorithm for image feature extraction and use of EKFSLAM algorithm for autonomous positioning is the best method for the robots develop.In the project,the corresponding mathematical model is established for sweeping robots based on the idea of comprehensive comparison.The indoor movement and observation of sweeping robot are defined from three aspects: coordinate model,operation model and observation model.The simulation results show that the SIFT algorithm is optimized to improve the matching degree and execution speed of the obtained image key points.Finally,the optimized SIFT algorithm and the autonomous localization algorithm are used to simulate the algorithm.Applied to the actual test of sweeping robots,to observe the actual operation of sweeping robots.