Design Of Location And Navigation System For Mobile Robot And Research On Improved Algorithm Of Odometer

The development and application of mobile robots are of great significance to the development of intelligent manufacturing.The location and navigation technology determines the intelligent degree of mobile robot and is one of the key technologies of mobile robot.The traditional mobile robot location and navigation methods have problems such as relying on external auxiliary equipment and fixed routes.How to realize the more intelligent location and navigation has gradually become a research hotspot.In this paper,the location and navigation system of mobile robot and odometer error calibration method are studied.SLAM technology and navigation path planning technology are used to built an indoor service mobile robot based on mecanum wheel,and the location and navigation system of mobile robot is designed.At the same time,an odometer error calibration method based on the kinematics model and dynamic equation of the mobile robot is proposed to achieve precise movement of mobile robot.The main work in this paper is as follows.Firstly,the hardware and software system of the whole platform are introduce and the robot model and simulation environment based on ROS are built.The transformation relationship of the mobile robot coordinate system is analyzed,and the kinematic model and dynamic equations of the Mecanum wheel mobile robot are derived.Secondly,using a modular approach,the mecanum wheel mobile robot location and navigation system with lidar as the core and wheel odometer as the motion reference is designed.Combined with the map building algorithm and Monte Carlo particle location algorithm,the location and map building of mobile robot in the environment is realized.The path planning algorithm in the location and navigation system is studied,and the methods of A * global path planning and DWA local path planning are selected to realize the navigation and obstacle avoidance of mobile robots.Third,the mobile robot odometer motion model and UMBmark error calibration algorithm are studied.Combined with the previous theoretical analysis,a odometer error calibration method for a mecanum wheel mobile robot is proposed.This method optimizes its defined kinematics calibration index through continuous test experiments to achieve the effect of compensation for the odometer system error.Fourth,based on the research contents in the previous chapters,a location and navigation system for the mecanum wheel mobile robot was built.And for the odometer error correction method and location and navigation system proposed in this paper,several sets of experiments were designed to verify its feasibility and reliability in the actual platform and simulation environment.