Research And Design Of Auto Recharging System For Home Escort Robot Based On ROS

With the rapid development of robot technology and the increasing demand of society,the research and industrialization process of home escort robot has been greatly promoted In recent years,In order to extend the home escort robot business hours and make the working ring in a continuous state,the paper has developed a hierarchical auto recharging system based on ROS so that the robot can search charging station and complete energy supply without relying on manual intervention of the independent.In the paper,improved median filtering algorithm and segmentation algorithm are used to preprocess the anomaly points and invalid points in the original data of the lidar.In order to solve the problem of accumulative error in the encoder,the paper designs an inertial measurement system and uses the Calman filter algorithm for data fusion.The processed lidar data and the odometer data are further integrated to build a two-dimensional occupied grid map of the environment in which the robot is located based on Rao-Blackwellized particle filter.Because the accuracy of low cost lidar is difficult to meet the requirements of accurate docking,and the location of charging station may change at any time in the home environment,the auto recharging is divided into two level system of remote range docking and close range docking.According to the map information and lidar data,remote docking system uses Adaptive Monte Carlo algorithm to localize itself and realizes the global path planning and local path planning based on the A*algorithm and DWA algorithm.Its main purpose is to get the robot reach the charging station or the room.Close docking system is based on dual priority infrared navigation algorithm proposed in the paper,which guides the robot to the charging station and completes the accurate docking.Finally,we build the whole auto recharging system,which is divided into the upper computer,the robot and the lcharging station.Each part includes two aspects of hardware design and software design.We select several environment to test the SLAM,the remote range docking and the close range docking.A large number of experimental results and practical application show that the auto recharging system effectively solves the problem of limited recharging distance in traditional methods and has high docking efficiency,docking accuracy,docking success rate and environmental universality.It fully meets the recharging demand of home escort robots and has a good application value.