Research On Mapping And Navigation Of Mobile Robot Based On SLAM

With the continuous development of science and technology,people's functional requirements for the mobile robot are increasing.The new generation of intelligent robot can provide convenient service and undertake rescue tasks in dangerous occasion with manual inconvenience.At present,traditional mobile robots can not meet the special needs of certain applications.Therefore,the intelligent mobile robot has very broad application prospects and research value.How to realize the mobile robot map construction and autonomous navigation in an unknown environment is a key technical problem to many special applications.This article conducts research on the above issues and the specific research contents is as follows:For the difficulties of map construction where the mobile robot in an unknown environment,establish the mobile robot SLAM system model.Realize the coordinate transformation in different coordinate systems and get in-camera parameters through depth camera calibration.For the situation without prior environmental information,derive and realize the SLAM algorithm based on extended Kalman filter,verify the effectiveness of the algorithm by simulation.For the complex environmental issues in practical applications,design and realize the mobile robot positioning algorithm based on particle filtering and combine with a two-dimensional grid map construction method to complete the construction of an environmental map in an unknown environment.And complete the mobile robot mapping simulation experiment in a simulated three-dimensional environment.For the problem of mobile robot autonomous navigation with known environmental information,research and realize static global path planning and dynamic local path planning algorithms.First,combining the motion characteristics of the two-wheel differential robot,the A * algorithm was improved around the search directions and the number of turns.And through simulation analysis,the mobile robot has fewer turns and shorter moving paths after improving this algorithm.A * algorithm is fused with DWA algorithm,and make it possible to realize the autonomous navigation function of mobile robots in both static and dynamic environments,and verify the effectiveness of algorithm.In order to verify the effectiveness of the mobile robot SLAM algorithm and the improved fusion algorithm designed in the real environment in this paper,experimental verification was conducted in the laboratory by building the software and hardware platform of the mobile robot.The experimental results show that the algorithm used in this paper can well construct the two-dimensional grid map corresponding to the real environment and realize the autonomous navigation of the mobile robot for the case that the information of environment is unknown.