Research On Omnidirectional Mobile Robot Positioning And Magnetic Navigation Based On Track Estimation

Localization and navigation is the main function of mobile robot and it is the hotspot and difficulty in current research area.This paper is aimed at indoor localization robot and an omnidirectional mobile robot is designed based on three-wheel dead reckoning localization method.This paper focuses on the design of magnetic navigation experiment and realization of obstacle avoidance function,specific work includes:Research status of intelligent mobile robot,robot localization technology and navigation technology in current mobile robot area are reviewed.Movement mechanism of wheeled mobile robot is analyzed,a robot is designed and manufactured on the basis of the analysis,the robot is composed of driving and driven wheel system and is capable of high loading and damping ability.Robot's whole structure,transmission mechanism of wheels and spring damping mechanism is introduced in detail.Hardware system scheme is selected and designed,STM32F103VET6 is chosen as master chip,dead reckoning localization module based on rotary encoder is designed,servo motor and driver of motor drive module is calculated,designed and selected,ultrasound and vision sensor are used as magnetic navigation's obstacle avoidance module,robot's hardware system is design and circuit is built.Motion of driving wheel system is analyzed,the kinematic equation of mecanum wheel omnidirectional mobile mechanism is deduced.Three-wheel omnidirectional kinematic model is established,the relationship between rotation speed of driven wheels and robot's pose is obtained and three-wheel dead reckoning localization algorithm is deduced,experimental verification is made and localization error is analyzed.Positional relationship of magnetic strip and robot is analyzed according to signal collected from front and rear magnetic sensors,robot's horizontal localization is combined with longitudinal localization,obstacle avoidance function is designed,obstacle's profile is obtained by combining distance measured by ultrasound and lateral size measured by vision sensor,robot's magnetic navigation function is finally realized,navigation error is analyzed.Result shows the chassis structure meets the load and strength requirement,the dead reckoning localization algorithm basically meet indoor localization requirement,theoretical basis and experimental reference is supported to the research of mobile robot localization.