Research And Implementation Of Mapping Navigation And Positioning Of Mobile Robot Based On Laser And RGB-D Camera

With the advent of the intelligent era of Industry 4.0,the technological development and breakthroughs in communication,computer and other industries have made possible the realization of intelligent robots.Various forms of robots have gradually replaced humans into factories,homes,and become indispensable helpers for humans.The dissertation is based on the two-dimensional LIDAR and depth camera and other sensors on the robot,and explores and practices the problem that robots face in real environments.Aiming at the limitation that the two-dimensional laser can only detect the plane,the dissertation proposes a grid map fusion method and an obstacle avoidance method based on the hierarchical dynamic cost map,so that the robot can use the information detected by the laser and depth camera to create maps and obstacle-avoiding navigation.To solve the problem of robot kidnapping and global localization,the dissertation proposes a method based on bag of visual word model and laser matching,which calculates the pose information of the robot based on the visual feature information and laser information in key frames in the environment,and is used as Adapt the Monte Carlo algorithm to the initial pose,and then the algorithm will use particle filters to complete the local positioning of the robot and find the precise pose of the robot.Finally,the dissertation uses the ROS robot operating system as the basic platform,applying the basic toolkit provided by it to implement a software system.Which consists of those modules.The static basic map module and the dynamic stack-up cost map in real-time module are based on the sensor information of the radar and the sensor information of the depth camera,the global localization of the robot model is combined with the bag of visual word model and laser scanning cloud point matching to realize the global localization of the robot,and other basic modules.The system,which has practical value,is effective to solve problems in real-world.