Indoor Robot Navigation And Localization System Based On Multi-sensor

Robotics,especially mobile robotics,have been widely used in the fields of industrial manufacturing,military,logistics and indoor services.Among the key technologies of mobile robots,SLAM(Simultaneous Localization and Mapping)and the integration of multi-sensor data are essential technologies,and they are the basis for mobile robots to achieve precise autonomous navigation.In this paper,Turtlebot2 mobile robot is used as the platform,and sensing devices such as odometer and two-dimensional lidar are configured.First,the system's motion model and observation model were modeled,and an odometer-based motion model and a two-dimensional lidar-based observation model were established.Then,the lidar data was filtered.Then,a comparative analysis is made on the environment map form,and it is confirmed that the grid map is the map construction form in this paper.Aiming at the positioning problem of mobile robots,the principle of particle filter algorithm is deeply studied.Based on the particle filter algorithm,RBPF algorithm is introduced to improve the positioning performance.The particle degradation problem of RBPF algorithm is optimized by the proposed distribution method.The effectiveness of the improved algorithm is verified by MATLAB simulation and in ROS environment.For the navigation problem of mobile robots,combined with actual needs,it is divided into global path planning and local path optimization.In the global path planning,based on the comprehensive comparative analysis of A* algorithm and Dijsktra algorithm,the A* algorithm is selected as the global path planning algorithm;in the part of local path planning,the speed,acceleration and obstacles of the moving robot are considered.The dynamic window method DWA algorithm is used as the local path planning algorithm in this paper.On the constructed mobile robot platform,map construction based on sensor data fusion,robot positioning based on improved particle filter algorithm and global and local path planning are realized.A number of specific indoor test scenarios are designed.The evaluation of visual performance of the mobile robot operation was carried out,and the operational data was analyzed and evaluated.The feasibility of the overall scheme and the effectiveness of algorithms in each step have been verified.