| In the field of indoor mobile robot,navigation and localization have become the main research direction.Most control systems need to deal with a large amount of data,but the microprocessor system is weak in processing,computing and analyzing data.In order to solve the shortcoming of the microprocessor,the data is usually transferred to the PC,and the data processing of the control system is completed by PC.In this paper,the indoor mobile robot control system is designed by two parts: the host computer and the slave computer.The host computer is built by the MATLAB software which has strong mathematical operation ability.It has powerful data processing ability and man-machine interactive control interface.The slave computer is based on the ARM chip STM 32 as the control platform,The host computer and slave computer communicate with each other through the Zig Bee wireless.This design can save the storage resources,improve the computing ability of the control system.It is easy to build information database,improve the sensitivity of the robot and enhance the controllability of the robot.Navigation technology is the core of mobile robot.This paper presents a PDSFA algorithm combined with the Dijkstra algorithm,and based on the free space method,the key problem of path planning for indoor mobile robot navigation is realized.Compared with the results of two improved artificial fish swarm algorithm,the PDSFA algorithm has the advantages of short running time,good stability and so on.In the case of known indoor working environment,it is necessary to model the working environment.At present,there are many modeling methods,such as grid method,visual graph method,free space method,neural network method and so on.This paper proposes to get an image of the indoor environment based on MATLAB image processing toolbox,and get the coordinates of obstacles by using MATLAB.It completed the construction of environmental model by using free space method and laid the foundation for indoor mobile robot path planning.With the development of science and technology,the method of robot localization has been developed.At present,GPS positioning technology has been widely used inmilitary and civil fields.However,due to various factors,the accuracy of indoor positioning error is large,so it can not be widely used in indoor mobile robots.There are more mainstream positioning methods in the infrared positioning technology,ultrasonic positioning technology and visual positioning technology.This paper mainly adopts the RFID positioning technology,based on a unique ID number for each RFID tag,laying in the interior of the robot through reading the ID card,you can know the position of the robot,the robot realize the positioning function.After the tests of each module and system,it shows that it has achieved the basic functions of the system meet the design requirements in the robot's indoor navigation,obstacle avoidance,communication between the host computer and the slave computer,and the path planning by autonomous decision-making.Through the above methods and experiments,the feasibility and effectiveness of the proposed control system is verified.However,due to the limited time of research and development,such as the area of RFID tags is too large,there are some errors in the positioning technology.Therefore,the paper needs further improvement and research. |
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