Research On The Method And Application Of Typical Mobile Robot Environment Recognition And Motion Control

Autonomous environment perception,planning and decision-making are the key technologies for mobile robots to adapt to complex environment,ensure the safe operation of robots,reduce the manpower and control workload,and to improve the working efficiency and practicality of robots.Staircase is the most typical terrain environment in buildings.If a robot want to perform task within the building,the robot need to solve the problem of security in climbing stairway.Affected by the development of communications,teleoperation and human-computer interaction technology.In the remote control terminal can not effectively establish the requirements to adapt to the safety of remote control robots.Therefore,under the condition of weak presence,controllers difficult to accurately and effectively manipulate the robot cross the stairs.As a result,it is difficult to ensure the successful completion of the mission.Therefore,this paper focuses on the autonomous climbing of mobile robots in indoor staircase environment,and the main research work done is as follows:(1)A method of extrinsic calibration of a pinhole camera and a 3D lidar sensor.The problem is converted into solving the rotation and scaling matrix in the three-dimensional space according to the correspondence of chessboard in camera and 3D lidar sensor coordinate systems.(2)Staircase feature extraction method based on image and laser point clouds.First,process the point clouds data into a binary image with a resolution of 640×480.Second,extract the straight line in binary image.Finally,extract straight lines from the image obtained from the camera.(3)The method to determine the structural parameters of stairs based on multi-sensor information fusion.First,we select the feature line from the work(2),and divide these lines into step line group and arm line group.Second,determine the structural parameters based on step line and handrail line.Finally,determine the height of step through the ratio of the vertical distance between the point cloud line and image line.(4)The stability and configuration optimization method of dynamic obstacle course of crawler robot.In order to reduce the negative effects of the slippage and impact of the crawler robot during the climbing process,I analyze the force and stability of the robot climbing the stairs and proposed a method for configuration optimization and attitude control.