Research On Environmental Detection And Positioning Navigation Of Mobile Robot Based On Laser Scanner

With the development of computer science and artificial intelligence technology,it is imperative that mobile robot can adapt to various complex environments and move autonomously to accomplish the given task,in order to further improve production efficiency and facilitate human life.As the key to autonomous navigation for mobile robots in an unknown environment,simultaneous localization and map building has important theoretical research and practical application value.The main task of the research project is to build a mobile robot experimental platform and by the simulation research on Extend Kalman Filter algorithm,combine the scan matching algorithm to complete the simultaneous localization and map building of unknown environment with laser radar as the main data source under the ROS system.The main content of the paper includes the following four aspects:(1)The movement model of mobile robot and the observation model of laser radar are firstly established.Then based on the working principle of laser radar sensor RPLIDAR and the core concept of robot operating system,the data acquisition of laser radar under the ROS system is realized according to the communication modes with external system and the acquisition progress of scanning data.(2)According to the basic idea of motion control,STM32 micro-controller is used to complete the hardware circuit design and software programming of the underlying platform.By customizing the communication data format,the serial processing program of ROS and STM32 micro-controller are written separately to realize the communication between the ROS and underlying platform.(3)Based on the basic principle and common algorithms of SLAM,the implementation process of the Extend Kalman Filter algorithm are discussed in detail.Then,the EKF_SLAM simulator program is writen under MATLAB software.By setting different parameters of motion models and observing model,the results of comparison are acquired in order to analyze the performance of the algorithm.At the same time,an improved Artificial Potential Field algorithm is proposed according to the defects of the traditional one,The simulation study was conducted through the graphical user interface under MATLAB to verify the improved performance of the algorithm..(4)Combined with extended Kalman filter algorithm,the laser scan matching algorithm is used to complete the SLAM research and achieve more accurate map construction and autonomous positioning under the ROS system.The experimental research on the hardware platform of the mobile robot is performed,and the performance improvement of the algorithm is analyzed according to the experimental results.