Mobile Robot Floor Positioning And Navigation Research

With the development and improvement of computer technology,sensing technology and intelligent control technology,the performance of the mobile robot has been improved,and application scope and field have also been expanded.As an important branch of intelligent robots,more and more attention has been payed to mobile robot,especially the core positioning and navigation system.In this paper,an positioning and navigation system for the whole building was designed,which includes the mobile robot motion control technology,path planning and obstacle avoidance technology,combined positioning technology,by the research object of the mobile robot in the laboratory and for the purpose of engineering application.Firstly,according to the environment and working process of the mobile robot,a positioning and navigation system was designed,which includes servo motion control,path planning,obstacle avoidance,combined positioning and machine vision.Secondly,the paper used master-slave synchronization control mode to realize synchronous motion control of four wheel omnidirectional drive robot robot.The hardware of the motion control system was chosen and the circuit was designed.This paper analysed linear walking and curve walking mode of the mobile robot.A corresponding motion control software program was programmed.And the drive motor speed curve was designed.Thirdly,this paper selected suitable obstacle avoidance sensors and determined their installation positions and connection structures.The obstacle avoidance in the corridor was realized by ultrasonic sensor.And this paper designed the electronic map of the robot application floor and the shortest path from the starting point to the target was searched by depth traversal of the electronic map.Fourthly,a combined positioning mode was adopted,which combined the relative positioning based on encoder and magnetometer and the absolute positioning based on machine vision and ultrasonic sensor information fusion.This paper calculated the position and orientation of the robot based on EKF and achieved the relative position of the robot according to the data collected by the encoder and the magnetometer.The absolute position of the robot in the corridor intersection was determined by the combination of the ultrasonic distance measurement and the ultrasonic obstacle avoidance sensor connecting electronic map.And this paper confirmed the absolute position of the target of the house through image recognition and the image processing of the house number was designed in detail and the digital identification of the house number was realized based on KNN.Finally,this paper carried out the system experiment,including the motion mode and synchronous motion control experiment,the path planning and obstacle avoidance experiment,the self localization experiment.The realization of the movement pattern and the precision of the synchronous control,the realization of the global path planning and the obstacle avoidance of the corridor,the precision of absolute positioning and relative positioning were analyzed,and the feasibility of the positioning and navigation system was verified.