Design Of Motion Control System For Autonomous Positioning Mobile Robot

With the rapid development of automatic control technology,computer network technology,intelligent control technology and artificial intelligence.Autonomous mobile robots are gaining more and more attention from scholars.This paper is based on the SLAM laser radar navigation project of hubei tianyi cruise technology co.,LTD.On the basis of a lot of literature review,combined with the characteristics of mobile robot in mechanical,electronic and modern control,a two-wheel differential mobile robot platform was designed.Based on this platform,the software and hardware design of mobile robot motion control system was completed,and the interface design of communication with ROS system was realized,and the positioning accuracy was improved by using data fusion.The specific research contents are as follows:Firstly,the mechanical structure design of the mobile machine body is briefly introduced.And introduced for collecting external information of all kinds of sensors and detection of L3G4200 D chip's own state of motion information acquisition and photoelectric encoder to achieve STM32F103VCT6 controller for mobile robot self-localization used and at the same time,also introduced for driving module and power regulator module drive DC motor.Secondly,the positioning method based on kalman filter is designed.Firstly,the kinematics model and dynamic model of mobile robot are analyzed.Then the data fusion of the encoder and gyroscope is completed according to the principle of kalman filter.Then,the data of yaw Angle after the fusion of kalman filter is used to realize the positioning of mobile robot and improve the positioning accuracy according to the principle of dead reckoning.Finally completed the software design of the mobile robot,including two rounds of speed calculation,dc motor PID control,kalman filtering software design,dead reckoning software design and the communication with ROS upper machine design.Finally,through a lot of experimental measurement of the positioning precision of mobile robot under different motion state in the kalman filter data fusion before and after the high and low,the experimental results show that the encoder and the positioning accuracy is greatly increased after the gyroscope data fusion,fully demonstrated the feasibility of this article by way of positioning,convenience and superiority.