Development And Research Of The Intelligent Mobile Robot

In recent years,intelligent mobile robot has become a hot area of research and has widely future application.The technology of intelligent mobile robot covers many aspects,such as structure design,camera calibration,SLAM(simultaneous localization and mapping),path planning,multi-sensor information fusion and so on.In this paper,the current advanced robot technology is summarized,and the complete intelligent mobile robot system is designed.The body of the mobile robot is designed firstly.It is applied that the chassis with two independent wheel driving mode and the robot arm with six degrees.The forward and inverse kinematics of the chassis and the robot arm are analyzed,which provides a theoretical basis for the design of the control algorithm.The calibration of the stationary robot vision includes camera calibration and the pose calibration between camera and robot base.The calibration algorithm researched in this paper can accomplish two works at once.Zhang calibration algorithm is introduced in the camera calibration,and the least squares method is introduced in the pose calibration between camera and robot base.The experiment shows that this algorithm has the advantages of simple operation,high speed and high precision.The SLAM algorithm based on graph optimization includes three parts,the front end,the loop closure and back end optimization.In order to improve the real-time performance of SLAM system,the scan to submap matching algorithm is introduced in the front end.In addition,more pose constraints are added to the loop closure to ensure the accuracy and stability of the system.The final optimization objective function is derived in the back end optimization.The consistency of the map data is obtained by using the general graph optimization library g2 o.Finally,a comprehensive experiment is carried out to verify the reliability and stability of the proposed algorithm.The Dijkstra global path planning algorithm and the dynamic window local path planning algorithm are used in the robot autonomous navigation and grasping experiments.