| With the development of society and the advancement of science and technology,indoor mobile robots have been widely applied.But there are several contradictory problems in the navigation and positioning of indoor mobile robot,such as positioning accuracy,manufacturing cost and complexity.Unlike outdoor robots,indoor mobile robots are closed and narrow spaces that cannot be used for satellite navigation and positioning,such as GPS and Beidou.At present,indoor mobile robots are mostly used for home service robots and storage robots.The most widely used driving modes are wheeled mobile.The main navigation modes are gyroscope,odometer,inertial navigation of acceleration sensor combination,and magnetic navigation.Wheeled mobile robots have two wheels in wheel configuration.Three rounds and four rounds.Different configurations have different advantages and disadvantages,and different configurations can be chosen according to different application conditions.According to the research goal,this thesis chooses the indoor mobile robot with three wheels configuration as the carrier,and chooses the two-wheel differential driving mode as the driving mode.In this thesis,according to the characteristics of the platform,a new navigation method is used to improve the navigation and positioning accuracy of the indoor robot.The main contents of this thesis are as follows:1.The robot platform and its motion model are studied.The robot platform selected in this thesis is a two-wheeled differential mobile robot.Its characteristics are simple structure,simple driving and control,and wide application.Its kinematic model only needs to care about two wheel speed, which is suitable for the navigation system we need to build.2.A navigation and positioning method combining laser image displacement sensor and geomagnetic sensor is proposed.The navigation system in this thesis is laser image displacement sensor,attitude module and odometer.The laser image displacement sensor is used to detect the displacement of robot.The attitude module includes geomagnetic sensor,gyroscope and accelerometer.It is used to detect the attitude angle of the robot,and the odometer is used to detect the moving speed of the robot.Using Kalman filter to fuse the above sensor information to realize navigation and positioning.3.According to the designed navigation positioning method to achieve navigation and positioning.According to the system we built,we need to collect and process the information detected by all sensors.This thesis uses Microsoft's VC++ development environment to collect sensor data,and uses MATLAB to realize data fusion to realize navigation and positioning. |
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