Research On The Multifunctional Family Bed Chair Service Robot

With the development of society and the increasing trend of population aging in our country,the demand for service robots in our country will be greatly increased.The market application prospect of service robot products is extremely broad and has great potential for development.In this paper,a multifunctional bed chair robot is the object of study.The technology of location,path planning and obstacle avoidance in the navigation of mobile robot is studied.There are two innovations in the bed chair robot.The first point is the bed chair integration structure,which realizes the interconversion between the bed and wheelchair and solves the problem of the user's transfer between the bed and the mobile devices.The second point is the modular structure and system,which is conducive to the function improvement and market promotion of the bed chair robot.The specific research contents are summarized as follows:1.The whole design of the bed chair robot.First of all,we designed the structure scheme of the bed chair robot and established the motion model of the bed chair robot.Then,we established the mechanism model of the bed chair.Meanwhile,combining with the ergonomics,we set up the 3D model of the bed chair robot.Finally,we designed a modular control system of the bed chair robot.2.The location of the bed chair robot.Firstly,aiming at the defects of the Monte Carlo location method,we combined the particle filter algorithm and the firefly algorithm,and proposed an improved method to optimize the particle distribution by the firefly algorithm.We improved the resampling process and used firefly algorithm to optimize the fitness of the particles in the particle filter algorithm,so that the location accuracy is improved.Then,through the simulation experiment and analysis,it is proved that the fusion algorithm in this paper has better location effect.Finally,the correctness of the simulation experiment is verified by the location experiment.In the location experiment,the location accuracy of the improved algorithm in this paper is 32.4% higher than that of the original algorithm.3.The path planning of the bed chair robot.In the first place,genetic algorithm is used to solve the shortcomings of the A* algorithm.In view of the complementary advantages of global path planning and local path planning,a fusion path planning method based on A* algorithm,genetic algorithm and DWA is proposed.Then,the results of the fusion algorithm are verified by simulation experiments.The simulation results show that the fusion algorithm has a good effect in path planning,and it is feasible and effective.4.The navigation and obstacle avoidance experiment of the bed chair robot.First of all,according to the above research content,a solid model machine of the bed chair robot based on ROS is built,and the corresponding human-computer interface is designed.Then,taking the solid model machine of the bed chair robot as the experimental platform,we conducted static and dynamic navigation and obstacle avoidance experiments on the grid map respectively.The experimental results show that the improved path planning algorithm is better than the previous one;the bed chair robot has a good ability to avoid obstacles;the navigation system is better than the original navigation system of ROS.