Research On Navigation Based On Surface Robot

China is a country with vast marine area and abundant marine resources.In order to better develop marine resources and solve the problems of transportation and patrol,it is particularly important to have intelligent surface unmanned robots,which can not only realize the exploration of water area,but also realize the tasks of security patrol and map drawing.At the same time,with the development of society and the acceleration of industrialization process.The problem of environmental pollution is becoming more and more serious,especially the pollution of water environment.There will be a lot of floating garbage on the water surface.The traditional method of cleaning floating matter on the water surface is manual or large-scale mechanical cleaning.The manual cleaning method has some problems,such as low efficiency and unsafe personnel safety.The large-scale mechanical cleaning method is not suitable for areas where floating matter is scattered and not concentrated.The cost of mechanical cleaning is high;therefore,this paper proposes a surface cleaning robot which can operate independently in the water environment to solve the problems of manual and high cost of traditional cleaning methods,so as to achieve high efficiency and intellectualization.In this paper,the problem of navigation and positioning in the process of water surface cleaning robot operation is studied,and the operation navigation system is designed on the physical platform of the robot.The main work is as follows:(1)There are many similarities in the characteristics of water environment.Traditional positioning methods based on odometer information and filtering method can not achieve good positioning effect,and there are large cumulative errors.In this paper,a water positioning method combining GPS(Global Positioning System)and IMU(Inertial Navigation System)is proposed to reduce the errors caused by the loss of GPS signals and improve the positioning of water robot.Bit accuracy.(2)This article is for describe the water scene and realize the robot’s work navigation in this environment.According to the characteristics of open water scene,the traditional mapping method can not eliminate the cumulative error for a long time.For this reason,this paper adopts the map-building method based on graph optimization,and adds loop detection to eliminate cumulative errors.At the same time,in order to reduce the errors of mismatching and loop detection caused by the scarcity of environmental features and achieve better map-building effect,this paper further integrates GPS/IMU data into the process of map-building to reduce the mismatching in loop detection.(3)This paper aims to realize the autonomous navigation of robots in the water environment,it combines global path planning with local path planning to achieve obstacle avoidance in dynamic environment.(4)The whole navigation system is designed and implemented: based on ROS platform,the robot water area mapping,water surface positioning and path planning are completed;based on client and server architecture,the navigation interactive terminal is designed,which realizes the functions of robot navigation status monitoring,navigation path assignment and so on,and effectively cooperates with the realization of robot water navigation.