Multi Sensor Data Acquisition And Processing Based On ROS

Robots have been widely used in production and life.With the continuous advancement of technology,robots are also developing in the direction of intelligence.Autonomous movement has become a significant feature of robot intelligence.Based on the robot operating system(ROS),this paper collects and processes data through multiple sensors,and studies the positioning and navigation system of mobile robots.First,the motion model and sensor model of the system are analyzed and established.After analyzing and comparing different environmental map forms,raster map is selected as the map description form in this paper.Secondly,on the basis of completing the relevant models,the principle and process of Kalman filter and particle filter algorithms applied in simultaneous localization and mapping(SLAM)are studied.Experiments have verified that the particle filter algorithm is more suitable for robot positioning.After analyzing the Fast-SLAM algorithm based on particle filter,several optimization methods are explained.Then the path planning algorithm of mobile robot navigation is studied.After analysis and experiments,the A~* algorithm is selected as the global path planning algorithm in this paper,and an improved A~* algorithm is proposed for the lack of the algorithm.The improved algorithm improves the efficiency by adding the coefficient of the evaluation function and optimizing the turn,and the effectiveness of the algorithm is verified by experiments and practical tests.The dynamic window approach(DWA)is adopted as the local path planning algorithm of this article,and the feasibility of this algorithm is verified by simulation.Then the hardware and software system of the robot are analyzed and designed.Aiming at the problem that odometer is prone to error,a data fusion positioning method based on odometer and Inertial Measurement Unit(IMU)is adopted.The data fused by the extended Kalman filter algorithm can obtain a more accurate robot pose.Finally,a mobile robot platform based on ROS is used to test the positioning and navigation system based on sensor data.By analyzing the results of the positioning,mapping,navigation and obstacle avoidance test of the mobile robot,the feasibility and effectiveness of the system and various functional modules are verified.