Design Of Warehouse Robot Control System Based On Improved SLAM Technology

With the continuous development of mobile robots and artificial intelligence,the "arrival of goods" handling mode dominated by mobile robots is gradually replacing the traditional "arrival of goods" handling mode.However,at present,the mobile robots in the "freight to person" handling mode mostly adopt the road sign navigation mode based on two-dimensional code and magnetic wire,etc.,with poor path flexibility.Meanwhile,the construction of road sign system is time-consuming and laborious,so it is difficult to adapt to the flexible business requirements under the "lead position" mode.In addition,the traditional PID control method is currently adopted for the movement control of the warehouse robot,which cannot cope with the possible influence of load change,actuator saturation and wear on the movement control of the robot.In this thesis,the environmental map construction and movement control of warehouse mobile robots under the "freight to human" handling mode are studied.The main research contents and results are as follows:(1)Analyze the process flow,functional requirements and technical requirements of the warehouse robot.SLAM technology is selected to construct the environment map,and adaptive control technology is used to solve the movement control problem of warehouse robot under the circumstance of load change.Finally,the overall design scheme of warehouse robot platform is introduced.(2)The environment map construction algorithm of warehouse robot is studied.The odometer motion model and lidar observation model for SLAM mapping are established.The Gmapping algorithm based on particle filter theory is analyzed in detail.Aiming at the poor adaptability of Gmapping algorithm and the low accuracy of map building,an improved algorithm based on dynamically adjusting filter particle number is proposed,and the improvement process is introduced in detail,and verified in Gazebo simulation platform.(3)Design the adaptive trajectory tracking control system of the warehouse robot.The design process of adaptive controller is introduced in detail.The adaptive control algorithm of mobile robot under the condition that the load quality changes is considered,and the saturation and dead zone of actuator is considered.The adaptive controller is designed and the adaptive rate is given,the adaptive PID controller is given,the Lyapunov function is designed,and finally the stability of the system is proved.And the simulation is carried out on matlab platform.(4)The design of environment map algorithm and adaptive controller is tested and verified.The autonomous mobile robot was used as the test platform to carry out map building experiments in real indoor scenes.By comparing and analyzing the experimental data,it can be seen that the improved algorithm improves the accuracy of environmental map.Then,the performance test experiment of the trajectory tracking controller is carried out.By testing the error of the robot tracking track,the effectiveness of the trajectory tracking controller is demonstrated.By analyzing the experimental data,it can be known that the trajectory error can converge to a small range under the action of the trajectory tracking controller,so the effectiveness of the controller is verified.