Research Of Mobile Robot System Design And Positioning Technology

Along with the rapid development of subjects such as computer and electronics technology and the growing demands of robots for all segments of society,the research work of robot has been paid more and more attentions,especially in the recent decades it has entered a period of rapid development.With the excellent mobility and operability,the moving robot has gradually become a hot topic in the field of robot research and development.And there are more and more people to put energy into the development and manufacture of the moving robot.In this thesis we expound how to use an existing two wheel-driving robot ontology to build a mobile robot system,including the hardware design of a mobile robot system and control software design of the mobile robot.After the completion of the mobile robot system used as the experiment platform,we collect information of each sensor,connecting with the multi-sensor information fusion technology,and do the problem of positioning of mobile robot.Paper's main work is as follows:1.First of all,we summarize the process of development of mobile robot and the significance of research,and then summarize the mobile robot research achievements at home and abroad and the research status of mobile robot localization.2.The hardware design of a mobile robot system.Mobile robot as a whole can be divided into several parts: robot body module,main control module,perception module,power module,drive module and shell of mobile robot.We will specify in detail components included in each module,the various components of the electrical characteristics,usage,as well as the connection of the various parts,finally complete the mobile robot system hardware platform construction work.3.The software design of the mobile robot system.: First,we will be needed for programming software,tools and how to build up the system of the programming environment,which will also involve cross-compilation,online debugging key programming technology;And then we'll explain how to make streaming driven development;Specific program design is given.And specific software design CAN be divided into several parts: serial communication,CAN communication parts(including the servo control of the motor),sensors,receiving information preservation and extraction.4.Multi-sensor information fusion technology: introduce its concrete application in mobile robot localization,by using the adaptive weighted fusion algorithm to the data of GPS,inertial navigation module,odometer for data fusion,we compared the fusion results.Finally,we complete a series of experiments of mobile robot.