Research On Positioning And Navigation Technology Of Mobile Robot

With the advancement of science and technology,mobile robot technology has also flourished and been used in many fields,such as intelligent tour inspection,anti-terrorism and riot control,home service,warehouse logistics,unmanned drivin g and so on.The key technologies for mobile robots are positioning and navigatio n.The accuracy,timeliness and stability of positioning and navigation will determi ne whether the mobile robot can complete automatic movement quickly and accura tely in the workplace.In view of the importance of this technology,in this paper positioning and navigation technology for robots within a small area like the indoo rs is studied,a positioning and navigation method combining the encoder with the Angle sensor is proposed.The omnidirectional motion robot platform is constructed by using four Mecanum wheels in this paper.During the working process of the robot,the robot is first moved remotely in the set area.During the movement it sends the collected angle and displacement information to the computer in real time.Then The host computer software analyzes and processes the received data to obtain the coordinate position of the robot in the global coordinate system,completes the robot's positioning function,and draws its real-time motion trajectory.At the same time,during the movement of the robot,the host computer saves the coordinate positions of the marked points,and sets the movement speed and direction for the robot with these the coordinate positions,so that the robot can move to each marked location automatically to complete the navigation function.In order to realize the designed positioning and navigation method,in this paper the Mecanum wheel motion model was analyzed,its motion equations were also given,and then an Android-based remote control APP was also made,which can be used for remote control the robot.The robot is designed with a main control board based on STM32F407,which can receive data from the remote control using the WIFI module and control the robot in combination with the PID algorithm.The main control board completes the data collection of the encoder and the angle sensor,and completes the communication task with the host computer.After the Qt-based host computer software is produced on the computer,it will be used to display the robot's real-time angle and displacement information,obtain the robot's coordinates in the global environment by dead-reckoning algorithm,complete the positioning of the robot,draw its trajectory,and save its coordinate information to realize its automatic navigation function.At last the functions of the entire robot platform are tested,the feasibility and accuracy of the positioning and navigation method designed in this paper are verified by the completed results.