Research On The Navigation System Of Autonomous Logistics Mobile Robot

In recent years,the explosive growth of the electricity suppliers and express delivery industry has spawned the rapid development of the logistics industry.Distribution and transportation as the end of the logistics link,its complexity is increasing.The requirements of the efficiency and safety of the transport process is also getting higher and higher.Logistics industry is undergoing rapid development and innovation,robotics,cloud storage,unmanned aerial vehicles and other continuous emergence in the logistics industry.They speed up the automation process of the logistics industry.Intelligent mobile robot has a high degree of autonomy,multi-disciplinary knowledge in one,good mobility,and environmental awareness and other characteristics,so that it is an inevitable trend into the intelligent logistics.Intelligent mobile robots have artificial intelligence like human activities.It can be used to improve the logistics and transport efficiency,to prevent traffic accidents and traffic congestion,and to improve environmental problems.It can be used in the distribution and transportation of logistics terminal,which can improve the efficiency of transportation,prevent the occurrence of traffic accidents and traffic jams,and improve the environmental problems.The mobile robot works in the outdoors,and the working environment is unknown and uncertain,so it is necessary to support the navigation system with high stability and high precision.The integrated navigation system of strap-down inertial navigation system(SINS)and GPS plays an important role in navigation field.SINS anti-interference ability is strong,but the error is easy to accumulate.The navigation precision of GPS is high,but the signal is easy to lose.The combination system makes up for their deficiencies.For the research of integrated navigation,foreign countries have been more mature,especially in missile guidance,while the domestic is still in the development stage.At present,the combined system can improve the dynamic stability of single GPS,the degree of error divergence of single SINS,but the navigation accuracy is not improved obviously.In this paper,the GPS/SINS integrated navigation system is studied deeply,and the simulation experiment is carried out by using Matlab/Simulink simulation tool.By using the conventional Kalman filter and Sage-Husa adaptive Kalman filtering algorithm,it is proved that the system can meet the requirements of the high stability and high precision of the autonomous mobile robot.And in this paper,the mobile phone is used as the control terminal of the mobile robot.The user can realize the remote control robot through the mobile phone APP and real-time tracking logistics information.