Research On Key Technology About Map Establishment And Localization System Of Mobile Robot

Map establishment and localization technology of mobile robot is widely used in industrial automation,services,aerospace and military fields.This paper is based on the key technology of map establishment and localization system of mobile robot,and focusing on how to set up map and positioning with high accuracy without any external auxiliary reference object(beacon,road sign,color plate,laser reflector),just according to the sensors carried by the mobile robot.In this paper,we firstly analyze the present situation and the development trend of the key technology of map establishment and localization system of mobile robot,and analyze the advantages and disadvantages of these methods and problems in the actual situation that we must face.Hereafter,we introduce three algorithms of Simultaneous Localization and Mapping(SLAM),and discuss the mathematical models of them.And do some tests to compare these three algorithms,and point out the advantages and disadvantages of them.According to the established map,an Adaptive Monte Carlo Localization(AMCL)algorithm based on the offline map is introduced.After analyzing the AMCL algorithm,the advantages and disadvantages of the AMCL is described,and an improved method is proposed to improved the positioning accuracy.In this paper,the positioning accuracy of AMCL algorithm is great improved by add the procedure of map preprocessing and scan matching,and inserting the result obtained by scan matching into the AMCL particle swarm.This paper also introduces a method to locate the mobile robot without a map,which is based on Inertial Measurement Unit(IMU),magnetometer and speed sensor.And illustrating the advantages and disadvantages of this method after analyzing the implementation principle of this method.Finally,this paper presents a complete solution for map establishment and positioningof mobile robot,and designs a experiment platform.And the experimental analysis and descriptions of the map establishment and positioning method of mobile robot are put forward.The experiment proves the validity and feasibility of the method.