Research On Indoor High-Efficiency Positioning Technology Of Mobile Robot Based On Improved Particle Filter

With the development of digital workshops and unmanned factory technology,modern manufacturing has become more and more demanding for the intelligence and high efficiency of mobile robots in the workshop.Conventional mobile robots need to be assisted by means of auxiliary devices such as two-dimensional codes,magnetic strips or reflectors when moving in the workshop,which increases the complexity of the algorithm and affects the efficient operation of the motion control system.Aiming at the above problems,this paper proposes an improved particle filter localization algorithm through the self-designed mobile operation robot,which realizes the robot's workshop positioning function without additional auxiliary devices,and improves the efficiency and intelligence of the mobile robot indoor positioning.The main research contents of this paper are as follows:The mobile robot coordinate system model,the mobile robot odometer motion error model and the lidar model are constructed.At the same time,based on the analysis of the commonly used map representation methods,the indoor environment is divided into discrete cells by occupying the grid map.The Cartographer mapping algorithm is studied.The high-quality environmental grid map is obtained by simulation experiment,and the description of the simulation environment is realized.On this basis,aiming at the contradiction between high precision and high time efficiency of particle filter positioning,an improved particle filter localization technique considering scan matching is proposed.The particle filter is used to obtain the rough global optimal solution.The rough global optimal solution is used as the initial value of the ICP(Iterative Closest Point)algorithm.After multiple iterations,the accurate global optimal solution is obtained,which improves the accuracy and response time of particle filter positioning.Finally,three sets of positioning simulation experiments are designed on the map obtained by the simulation,which verify the high precision and high effectiveness of the improved particle filter positioning technology.Combine with hardware and practical application,the Cartographer algorithm and the improved particle filter localization algorithm considering scan matching are implemented.The corresponding mapping and positioning software are designed.The overall framework and key modules of the software are elaborated.The construction environment experiment and the positioning experiment of mobile robot are designed in the workshop environment.The experimental results show that the software designed in this paper meets the design requirements,and the effectiveness and practicability of the improved particle filter localization algorithm considering scanning matching in practical application is verified.