Automatic Mobile Robot Based On Low-cost Two-dimensional Laser Radar

The mobile robot is a combination of a variety of anthropomorphic functions such as perception,coordination,and planning.As mobile robots can replace humans for more boring and dangerous work under technological advancement,mobile robots have gradually become one of raising technical areas of modern industrial development.The existing mobile robots are mainly used for industrial purposes,however the general degree of their intelligence can't meet the requirement of our increasing demand,and also the degree of automation is not high,or the cost so expensive that is difficult to popularize.In view of the above problems,this paper develops an automatic mobile robot system based on low-cost two-dimensional laser radar,proposes a design of the overall system,set up the hardware structure and software platform of the overall robot system bases on the consideration of hardware characteristics of the laser radar and embedded development board and the functional requirements of the mobile robot system.The main functions of the automatic mobile robot system are realized from three aspects of simultaneous localization and mapping,path planning and navigation.The research reduces the cost of the system,and improves the intelligent degree of the mobile robot.The measured results meet the functional indicators of the mobile robot.Firstly,this paper proposes a design proposal for an automatic mobile robot system,build up the overall system framework,hardware configuration and software platform of the automatic mobile robot.At the same time,this paper constructs the functional modules of the mobile robot system,and points out the requirements to performance and expected results of the system.Secondly,the paper studies simultaneous localization and mapping based on two-dimensional laser radar.The robot system acquire environmental data scanning by laser radar,and analyses the process of localization of robot system by matching point cloud data gather by laser radar,and completes mapping of the surroundings.In the aspect of path planning based on global map,global path planning has used Dijkstra algorithm,and local path planning combines data from laser radar and ultrasonic sensors.In this graph,we also discuss path planning and automatic navigation based on global map.Finally,this paper analyzes the effects to the accuracy of localization of simultaneous localization and mapping algorithm by different matching methods,solves out the variances of robot motion trajectory between different matching methods and trajectory provided by the simulation environment.This paper also evaluates the algorithm under different hardware environment,uses simulation environment to simulate the navigation algorithm and finally verifies the feasibility of the automatic mobile robot based on the low-cost two-dimensional laser radar through the on-site operation of the automatic mobile robot.Now the automatic mobile robot is able to complete simultaneous localization and mapping in an unknown environment,and automatically moves to navigate according to the generated environment map.