The Design And Implementation Of Localization And Path Planning Based On Panoramic Robot

Intelligent mobile robot has broad application prospects in industrial production,family services,medical services and other fields,and the autonomous navigation ability of robot is the foundation of its intelligence.Aiming at this issue,indoor positioning,path planning and path tracking algorithms have been studied.Specific research contents are as follows:1.The commonly used algorithm of artificial landmark recognition-color feature based algorithm has been introduced.Aimed at the deficiency of this algorithm,a rapid localization method was proposed,which has good robustness to illumination and environmental changes.Using omni-directional vision system to obtain environmental information,Firstly,the feature matching algorithm is applied to the landmark recognition.Then the landmark is designed which is conducive to recognition and localization according to this algorithm.Secondly,setting dynamic detection window to reduce the landmark detection area and solve the problem caused by the large amount of computation,improved the recognition rate.After that the affection of the angle of view on the recognition rate is eliminated by updating templet in real time.Finally,the localization algorithm based on the artificial landmark is introduced.Many experiment under different scenarios indicate that this method is more robust than color recognition.2.The establishment method of map model is introduced,and the grid map of experimental environment is established.The classical global path planning method : A*algorithm is introduced in this paper.Aimed at the deficiency of this algorithm,an improved algorithm is proposed to improve security of robot.And the path optimization algorithm is proposed as well,under the condition of not increasing the density of the grid.In most cases,the distance of the path can be reduced effectively,the turning angle can be reduced,and the energy consumption of the robot can be reduced.Finally,the effectiveness of the algorithm is verified by the contrast experiment.3.Secondly,the motion model of the mobile robot is established.According to need of the path tracking and obstacle avoidance algorithms,the global-local control strategy is proposed.The fuzzy controller is used to solve this problem.The basic concept and design process of the fuzzy controller are introduced.Finally,the fuzzy controller is designed for the mobile robot used in this paper.4.The environment and hardware platform of comprehensive experiment are introduced,as well as the software which has motion control,remote communication,landmarkrecognition,indoor positioning,global path planning,trajectory tracking and collision avoidance functions.The robot indoor positioning experiment was designed to determine the positioning range and positioning accuracy under three landmarks.Finally,a comprehensive experiment was designed to verify the effectiveness of all proposed algorithms.