Research And Implementation Of Wheeled Robot Motion Control And Positioning System

With the development of science and technology,the mobile robot is developing forwards intelligent and automated.Intelligent robots are entering the family,active in people's vision and serve for the human family.Self-localization,map-building and real-time route planning of robot is the key to realize the intelligent and automated robot,while the self-localization is the prerequisite to realize the autonomous navigation and environment modeling.Therefore,it is significant to improve the positioning accuracy and SLAM of the robot.In this paper,the autonomous navigation of the robot in the indoor environment is studied,and the multi-sensor information fusion technology has been applied into the integrated positioning system,which is based on the inertial navigation and the lidar.The SLAM research of the mobile robot in the indoor environment is realized by optimizing the FastSLAM algorithm.The specific contents of this paper are as follows:1.The control requirements of AGV are studied.The experimental platform of wheeled mobile robot is designed and the system control scheme of AGV experiment platform is designed.The whole hardware system of intelligent mobile robot,including servo driver module and STM32 module,is designed by using modular design scheme,which builds the foundation for the research of SLAM.2.The autonomous navigation of the robot in the indoor environment is studied,and location technology base on the inertial navigation and the lidar is designed.We improve the location accuracy of mobile robots in the indoor environment through by fusing data of inertial navigation and the lidar through the Kalman filter.3.The SLAM system of mobile robot is studied.We put forward the optimization algorithm for the FastSLAM technology according to the EKF-SLAM algorithm and the FastSLAM algorithm base on the particle filter.And we verified its reliability with Matlab.4.The ROS is studied and we realized the SLAM of robot in the indoor environment base on the ROS system.Multi-Sensor Information Fusion and FastSLAM algorithm is transplanted to the ROS system and it has been verified.This paper has studied the SLAM algorithm of mobile robot,designed the servo driver and the experimental platform of mobile robot,and optimized the FastSLAM algorithm.We verified the effectiveness of algorithms with the experimental platform of wheeled mobile robot,improved the location accuracy of mobile robots in the indoor environment and made the algorithm be faster,which has built the foundation for the study of autonomous navigation and Real-time route planning of robot in the indoor environment.