The Research And Implementation Of Tracking And Obstacle Avoidance Based On Magnetic Navigation Guide Robot

This project studies and implements the guide robot tracking and obstacle avoidance algorithms.The working environment of the guide robot is susceptible to crowds and light interference.Sensors such as cameras or lidars cannot accurately collect environmental information and directly affect the navigation behavior of the guide robot.By comparing the advantages and disadvantages of several navigation methods,autonomous navigation is performed by magnetic navigation tracking.Magne-tic navigation tracking requires high speed control,and the accura cy of the speed directly affects the stability of the robot.The classical PID control technology has poor adaptability.To solve this problem,the fuzzy self-tuning PID control technology combined with fuzzy control and PID control is used to achieve preci se speed control.As obstacles may appear on the trajectory of the guide robot,in order to solve the obstacle avoidance problem,the obstacle avoidance function is studied,and the active obstacle avoidance algorithm is designed to realize the active obsta cle avoidance of the static obstacle on the trajectory.This thesis first describes the background of the project and describes the functions of the guide robot.It introduces the common methods of tracking and obstacle avoidance,and clarifies that the research goal of this project is to guide the research and implementation of robot tracking and obstacle avoidance technology,and to clarify the purpose and significance of this research.In this thesis,the PID algorithm and fuzzy self-tuning PID control algorithm are elaborated in detail,and the obstacle avoidance algorithms such as artificial potential field metho d and BUG algorithm are compared.STM32 is selected as the core chip of motion controller,magnetic navigation sensor,ultrasonic sensor,speed feedback sensor,infrared sensor,etc.as the hardware to realize tracking and obstacle avoidance,and build mot ion control system.The kinematics model is established for the guide robot,and the theoretical feasibility of controlling the position and attitude of the robot can be controlled by controlling the speed.Three kinds of algorithm simulation experiments a re carried out on the speed control,and the experimental results are analyzed.The experimental results are analyzed,and the fuzzy self-tuning PI algorithm is superior to the speed precision control.Combined with magnetic navigation tracking,the active obstacle avoidance algorithm combined with magnetic navigation and BUG2 algorithm is designed.Finally,the motion control system test experiment is carried out.The accelerometer is used to measure the sway amplitude of the robot to verify the stability of the system.The practicality of the active obstacle avoidance algorithm of the guide robot is tested.The experimental results are analyzed and the problems encountered in the experiment and the solutions are summarized.