Design And Implementation Of Indoor Service Robot Positioning And Navigation Scheme

In modern society,the demand for service robots is growing rapidly.The service robots can help people to work in many fields,such as maintenance,repair,transportation,cleaning,security,rescue,and guardianship.The research on service robots is becoming more and more deep.In this paper,an industrial service robot in an unmanned workshop in intelligent chemical plant is taken as the research object.The location algorithm,path planning and motion control scheme are studied.The specific research work includes the following aspects.1.An indoor service robot platform for laboratory use is set up.Combined with the existing resources and conditions,a mobile platform for testing is designed and set up.The structure of the car body is designed,the driving mode is matched with the motion execution mechanism,and the sensor on the mobile platform is selected,thus the mobile platform which can satisfy the experimental use is set up.2.An inertia-based indoor mobile robot positioning method is designed.By processing the information collected by the acceleration sensor,including correcting the zero-point drift,and converting and integrating the acceleration,the coordinates of the robot platform in the ground coordinate system are obtained.And the positioning of the mobile robot is completed.This method is relatively stable,because it is not easily affected by outside interference.3.A path planning algorithm is selected and simulated.The service robot navigation problem is divided into two parts: path planning and motion control.The representation of the map is analyzed and the grid method is selected as the map representation.On this basis,the common and different points of the breadth-first search,Dijkstra algorithm,A* algorithm and other path planning algorithms are briefly described.The A* algorithm is chosen as the path finding algorithm.According to the presupposition situation,the path planning simulation and implementation process of A * algorithm based on grid method is given.4.A service robot motion control scheme is constructed.Firstly,the trajectory tracking control model of the robot is analyzed,and then a set of trajectory tracking motion control rate that meets Lyapunov stability is obtained by using Backstepping reverse recursive method.Finally,the simulation is performed on the Matlab software platform.At the same time,the motion control interface was written using C# language to meet the basic requirements of motion control.The key problems of indoor service robot positioning and navigation are studied in this thesis.It has some reference value for other indoor mobile robot navigation or path planning methods.