Design And Research Of Omnidirectional Mobile Robot System Based On ROS

With the rapid development of computer technology and intelligent technology,mobile robots have been applied to a variety of fields to help humans complete all kinds of work.It is an important guarantee for autonomous mobile robot to realize dynamic perception and real-time positioning of external environment and navigation based on it,which has important research significance.In this paper,the four Mecanum wheeled omnidirectional mobile robot is taken as the research object,and the positioning and navigation system based on ROS is analyzed and designed.Firstly,under the ROS development platform,according to the idea of hierarchy and modularization,the overall design framework of omnidirectional mobile robot positioning and navigation system based on hybrid hardware architecture was established,and then all the mathematical models involved in the system were established.Secondly,the basic principles of EKF and UKF for SLAM of mobile robots were studied respectively,and the simulation analysis was carried out in MATLAB.The results showed that the SLAM algorithm based on UKF has relatively smaller position and attitude error estimation,increases the number of landmarks or reduces the average mobile speed of mobile robots.It can improve the positioning accuracy.By introducing particle filter,the Fast-SLAM algorithm based on particle filter was studied,and the simulation experiment was carried out in the virtual environment established by MATLAB.The results showed that the Fast-SLAM algorithm has the least error in the pose estimation of the robot studied,and can be used as the final method to solve the SLAM problem of the robot studied in this paper.Thirdly,the hardware and software systems of the robot studied in this paper were designed.The parameter performance and working principle of the hardware module were mainly introduced,and the communication mode between the modules was designed.Aiming at the problem that the cumulative error of mileage caused by Mecanum wheel skidding is large,EKF algorithm was used to integrate IMU information and odometer information to estimate the pose of the robot.Laser radar and odometer information were designed and compiled.The basic steps of A* global path planning algorithm and DWA local path planning algorithm were analyzed,and the effectiveness of the designed algorithm was verified by physical simulation under ROS environment.Finally,the system construction and program debugging of omnidirectional mobile robot platform were completed.The omnidirectional mobile function,location and map building ability in corridor and indoor environment,global navigation function in indoor environment and local obstacle avoidance function were tested.On the one hand,the positioning and navigation ability of omnidirectional mobile robot was tested,on the other hand,the feasibility of the positioning and navigation algorithm and multi-sensor fusion algorithm adopted in this paper was verified.Figure [97] table [8] reference [79]...