Research On Indoor Positioning And Obstacle Avoidance Methods Of Smart Cars

Intelligent vehicle is an important branch in the field of robotics.Because of its low cost and small size,it is very suitable for complex indoor tasks.Intelligent vehicle used in smart home can effectively improve the comfort and convenience of home life.Because of the complexity of the indoor environment,there are many problems in the application of intelligent vehicle,such as obstacle avoidance,navigation,positioning and target identification.Based on the application background of indoor plant maintenance,the positioning and obstacle avoidance technology of intelligent vehicle for plant maintenance is studied.Firstly,the development of indoor intelligent vehicle technology at home and abroad is expounded.And the existing positioning and obstacle avoidance technologies are comprehensively compared and analyzed.A positioning system based on visible light communication is designed.In order to reduce the accumulated positioning errors in the dead reckoning algorithm,a combined positioning method is proposed,which uses the method of marking point positioning to correct the errors and enhances the accuracy and robustness of the indoor positioning system.The obstacle avoidance method using multi-channel ultrasonic ranging sensor and infrared sensor as external environment sensing system is discussed.The obstacle avoidance algorithm of multi-sensor information fusion is analyzed.Therefore,the decision-making of obstacle avoidance is made according to various special situations in indoor environment and obstacles in all directions to meet the obstacle avoidance needs of intelligent vehicles.In the indoor positioning system experiment of intelligent vehicle,the cumulative error of the whole course is reduced to be less than 5 cm,which is half of the error of dead reckoning positioning method.The purpose of reducing cumulative error of dead reckoning algorithm by using visible light location is achieved.Obstacle avoidance system can realize barrier-free driving in indoor environment including its special scenes.Experiments show that the indoor positioning obstacle avoidance technology can meet the needs of indoor intelligent plant maintenance.