Research On Multi-function Vehicle With Intelligent Following

With the development of mobile robots technology,more and more service robots are used in the industrial production and life.The goal of this paper is to design an auto-following vehicle based on the mobile phone,which can be used to help particular group(such as the senior,the disabled,etc.)to carry the daily-used items.Also,the auto-following vehicle app designed in this paper has two modes:automatic mode and manual mode.The mobile client controls the switch of the working mode.Besides,in the auto-following mode,the mobile phone client app uses the pedestrian dead reckoning method to predict the target people track according to the motion status of the target people.Then it will send the moving path of the target to the vehicle controller through Wi-Fi and controls the autonomous movement of the vehicle.In the manual mode,users directly use the mobile phone APP to control the vehicle to move forward,backward and the steering of the vehicles.First of all,through analyzing the requirement of the autonomous following system,the blueprint of the system is designed.Also,the mobile-client-navigation algorithm and the vehicle path planning algorithm are analyzed and examined during the process.Based on the algorithm of pedestrian dead reckoning,a vehicle autonomous navigation scheme is designed.The comparison and analysis of the different algorithms in three steps,such as step judgment,step length estimation and azimuth detection,are carried out.By the way,according to the method of artificial potential field,The method of dynamically selecting the temporary position of the target as a gravitational field is raised,which based on the target historical path,it improves the application potential of the artificial potential field method.Secondly,the software of mobile phone is designed.The design mainly includes interface,sensor monitoring,dead reckoning and communication module,which is completed by using the software design platform of Android Studio.Among them,The sensor monitoring module is responsible for collecting the mobile acceleration sensor and magnetometer data,and sends the collected data to the pedestrian dead reckoning module,which uses these data to determine the target path according to the selected step algorithm and step size estimation algorithm.In addition,the wireless communication between the mobile terminal and the controller side is realized through the way of Wi-Fi communication.Then,the design of vehicle body structure and control system is realized.In the design of control system,the hardware circuit,including main controller and power module,motor and drive module,obstacle avoidance module and communication module,is completed.Also the system software is designed for the function of each module.Finally,the algorithm of pedestrian dead reckoning and path planning are verified by simulation and actual surveys.The results show that the navigation algorithm in this paper has high precision,and the tracking and obstacle avoidance of the path planning algorithm is very effective.In a word,Both algorithms are correct and effective,which proves that the vehicle designed by this topic can accomplish the task of Human-Following.