Design And Application Of Autonomous Mobile System For Two-wheeled Self-balancing Robot

Two-wheeled self-balancing robot has many characteristics,such as,simple structure,flexible performance,small turning radius and so on,and it is very suitable to be applied in some situations where the work environment is changeable frequently,and the tasks are complex,such as space exploration,terrain reconnaissance,dangerous goods transportation,etc.With the development of intelligent technology,the research of two-wheeled self-balancing robot with autonomous mobility has become the main trend.Two-wheeled self-balancing robot is a high order,multivariable,dynamically balanced,under-actuated and nonlinear system.This paper focus on the study of autonomous positioning,map building,path planning of two-wheeled self-balancing robot.Firstly,this paper reviews domestic and foreign research development situation of autonomous positioning,map building and path planning of two-wheeled self-balancing robot.Then,a two-wheeled self-balancing autonomous mobile robot autonomous mobile is designed,and its hardware and software design is introduced in detail.Secondly,because of the dynamic balance of the two-wheeled self-balancing robot,the traditional RGB-D based vision positioning accuracy is not high.This paper combines inertial positioning and visual positioning to reduce the effect of carrier jitter on positioning.Thirdly,the octree model is used to build a 3D grid map,which effectively reduces the consumption of storage resources.Finally,the deep research has been made on improved A* algorithms which are used in path-finding,including heuristic function design,dynamic weighted evaluation function design and path smoothing.The above research has been applied to two-wheeled self-balanced robot system,experiments demonstrate the capability of the proposed algorithm,which improves localization accuracy by about 100%,decreases map storage resources consumption by more than 90%,reduces the path length and turning times,meanwhile,the path smoothness and the algorithm speed are improved.The autonomous movement of two wheeled self balancing robot is realized.