| With the rapid development of artificial intelligence,mobile robot technology tends to be intelligent and humanized-The mobile robot based on lidar is gradually mature in the known environment.Mobile robot can provide safety detection service in the closed environment of mine.The existing navigation control algorithms require frequent human-computer interaction to ensure the correctness of robot navigation.As a result,the autonomous ability of patrol inspection robot is poor.In addition,due to the delay of sensor data collection,the ability of mobile robot to avoid dynamic obstacles is insufficient.Aiming at the above problems,this paper studies and designs the autonomous navigation mobile robot system based on the simple control command.The main contents of this paper are as follows:1?The navigation principle of mobile robot is studied and the multi-mode control function is designed based on the existing navigation function.The control function divides the movement of mobile robot into emergency stop,charge,cycle motion and fixed-point motion.The movement of mobile robot for different needs is realized.2?In the closed dark environment of mine,a dynamic obstacle detection and tracking method using sparse lidar data is proposed,which makes use of the data characteristics to make up for the shortcomings of sparse target data and realizes detection and tracking.Through the experimental verification,the algorithm uses sparse data to detect and track the dynamic obstacles in the closed dark environment,and because of the small amount of data and fast processing,it is suitable for the navigation of omni-directional mobile robot.3?This paper studies the working principle of wireless network in a large range,and designs a wireless LAN for controlling mobile robot in combination with mine environment.According to the national security standards,the installation requirements of network equipment,mobile equipment and security detection equipment are studied. |
PDF Full Text Request