Design And Implementation Of Campus Intelligent Logistics Robot Based On Cartographer

With the rapid development of economy and education,the number of students in our country is increasing,so the campus express service for teachers and students in the campus is gradually valued by businesses.However,there are some unsolved problems in the existing express service mode and campus express scene.For example,the express delivery items are placed in disorder,the out of school personnel entering the school to deliver express delivery is not conducive to the campus order management,and the delivery service time conflicts with the work and rest time of teachers and students.In addition,the existing express delivery mode has not yet provided the needs of bill delivery,book borrowing and returning,document transmission and so on.To solve these problems,this thesis designs a campus intelligent logistics robot which is applied in the campus intelligent logistics system.The robot can realize autonomous navigation,and provide campus express services such as book transportation,document transmission,bill delivery,online shopping package distribution,etc.At the same time,the thesis analyzes the algorithms of map building,relocation,path planning,and completes the software and hardware design of campus intelligent logistics robot.The following is the main research work of this thesis:(1)Firstly,the problems of campus express are analyzed,and the functional requirements of campus intelligent logistics robot are summarized.Then,the key technologies of campus intelligent logistics robot are analyzed,including chassis kinematics model,lidar ranging principle,map model principle analysis and discussion.In addition,the principle of the mainstream cartographer,gmapping and Hector slam algorithms is analyzed,and through the simulation experiment,the quality of map building and resource utilization of the three algorithms are compared.Finally,we decide to use cartographer as the algorithm of this thesis,and use the method of line feature extraction to improve the construction of raster map.(2)Firstly,the principle of self-adaptive Monte Carlo positioning algorithm,A*algorithm and dynamic window algorithm(DWA)path planning algorithm are analyzed.Then a simulation experiment is designed to verify the above algorithm.Then it designs the overall scheme of the campus intelligent logistics robot,as well as the software and hardware system structure,selects the core components of each subsystem,completes the circuit design and implementation of each module,software design and deployment of each function node.Finally,the hardware system and software system of campus intelligent logistics robot are built.(3)Firstly,the simulation platform is used to build campus scene and robot model,so that the robot can build a map in the simulation environment,and test positioning,path planning,obstacle avoidance and other functions on the built map.Then,in the actual campus scene,the movement function and drawing function of the logistics robot are tested.Finally,the feasibility of campus intelligent logistics robot system is verified by analyzing the experimental results.