Research On Navigation And Precise Positioning Of Mobile Robot Based On SLAM

In recent years,the application of autonomous mobile robots has become more and more extensive,and the related technologies have also attracted the attention and active exploration of researchers at home and abroad.The proposal and development of the slam theory promotes the development of mobile robots towards autonomous and intelligent.Path planning technology has always been the research focus of mobile robots.This paper will carry out research on key technologies of mobile robots based on ROS,including map construction,path planning and precise positioning.The specific research contents are as follows:Firstly,the global coordinate system and local coordinate system of the mobile robot are defined.The kinematics model,dynamic model and pose error model of the two-wheel differential mobile robot are established,which lays a theoretical foundation for the analysis and control of the mobile robot.Secondly,four widely used mapping frameworks are introduced,In the study of global path planning,the shortcomings of the heuristic function in the A* algorithm are too simple,a heuristic function with variable weight is proposed.The improved algorithm not only improves efficiency,but also makes the path planning more intelligent and more directional.In the research of local path planning,formula analysis and parameter tuning were carried out on the dynamic window approach.Again,the error of the mobile robot sensor is analyzed and calibrated.The lidar scans the absolute feature reference and divides and linearly fits the data to obtain the outline of the absolute reference.Then the feature recognition method based on unscented Kalman filter is used to obtain the pose error of the robot and the target point.The precise positioning of the robot is controlled by the design point stabilization controller,and the feasibility of the scheme is verified.Finally,the experimental environment was set up,and the four mapping frameworks were constructed using the experimental platform Turtlebot3.The four frames can get a complete map.After comparison,the precision of the cartographer_slam frame is in the millimeter level,which is significantly higher than the other three frames.The global path planning and local path planning of the mobile robot are verified,and the single point navigation is measured.The uniaxial error,multi-point repeated navigation of the two-axis error.