Research On Autonomous Navigation Technology Of Wheeled Trackless Mobile Robot In Complex Workshop Environment

Recently,autonomous navigation of wheeled trackless mobile robots has become a research hotspot in the field of robotics,which is essential for autonomous operation of mobile robots.However,under a complex workshop environment,the current autonomous navigation solutions cannot satisfy the requirements of efficient global localization and safe path planning,which severely limits the applications for industrial scenarios.To address the above problems,this paper presents a complete set of autonomous navigation scheme for wheeled trackless mobile robots,which can achieve safe and efficient navigation in the complex workshop.In particular,the global localization module and the path planning module have been innovatively designed.The main contents and innovations of the paper are as follows:(1)The actual navigation requirements in a complex workshop environment are analyzed,and an overall framework for autonomous navigation of wheeled trackless mobile robots in such environment is developed,which focuses on the design of global localization schemes and path planning schemes.Then the system model of wheeled trackless mobile robot is constructed,including motion model,observation model and map construction form.(2)In order to achieve efficient and accurate global localization of wheeled trackless mobile robots,a global localization algorithm based on feature heat map is proposed.On the one hand,based on the existing occupancy grid map,three algorithms of ray casting,edge feature detection and point feature detection are used to mine the points and lines feature information in the scene,and then the feature information is added to the occupancy grid map utilizing a heat map.In this way,the construction of feature heat map is completed,which can efficiently reflect the feature information in the environment;On the other hand,edge and point feature detection algorithms are applied to obtain the point and line features in real LIDAR data.And the point and line features are matched with the feature heat map to generate the initial pose point set.Finally,the initial pose point set is combined with the likelihood matching and the Monte Carlo localization algorithm to realize the global localization in complex workshop scenarios.Simulation results show that the proposed algorithm improves the speed and accuracy of global localization.(3)In order to improve the navigation safety of wheeled trackless mobile robots in complex scenarios,a path planning algorithm based on point-edge path diagram is designed.On the one hand,by considering the movement characteristics of a wheeled trackless mobile robot comprehensively,a point-edge path diagram with rich internal attributes is drawn,which combines the concept of points and edges in graphics;On the other hand,an improved A * algorithm is proposed,which is suitable for efficient path planning based on point-edge path diagram in complex workshops.This method uses the multi-parameter information in the point-edge path diagram to optimize the heuristic shortest path search evaluation criteria.Simulation results indicate that the proposed algorithm improves the mobile operation efficiency of the robot while ensuring a safe navigation.(4)The overall architecture of the autonomous navigation software is constructed,and the design methods of the two key modules of global localization and path planning are expounded.The developed autonomous navigation software has performed extensive global localization and path planning experiments in the real workshop scenario.The results demonstrate the effectiveness and applicability of the proposed autonomous navigation technology in a real complex workshop environment.