| With the development of modern logistics and service industry,people have higher and higher requirements on the function of mobile robots.People hope that robots can go deep into human social life and help human to complete more delicate and diversified intelligent tasks.The core technology to improve the function of mobile robots is automatic navigation technology,which can enable mobile robots to autonomously and accurately complete navigation tasks in complex and unfamiliar environments.However,the current traditional navigation methods can no longer meet the modern needs.Simultanical Localization and Mapping(SLAM)technology,which has been widely studied,can improve the robot’s sensing ability and physical interaction ability to the surrounding environment,which can provide technical support for the intelligent development of mobile robots.In this paper,a complete automatic navigation mobile robot system is designed and implemented,and the mapping algorithm and path planning algorithm in the system are improved.The main research contents are as follows:1.Aiming at the problem of feature mismatching in Vision SLAM(VSLAM)algorithm,a new azimuth orientation method,Haar-like feature orientation method,was proposed to improve the ORB(Oriented Fast and Rotated Brief)feature matching algorithm in visual oemometer.The improved algorithm was experimented with KITTI data set.Experimental results show that the improved algorithm can improve the accuracy of feature matching between frames,which is beneficial to the accurate image construction of VSLAM algorithm.2.Aiming at the limitations of single sensor SLAM technology,the vision odometer and laser odometer were fused by extended Kalman filter.Vision and Laser SLAM(VL-SLAM)algorithm is used to build the map module.The VL-SLAM algorithm is compared with RGB-D SLAM algorithm and ORB＿SLAM2 algorithm,and the results show that the accuracy of the VL-SLAM algorithm is higher than the other two algorithms.3.The Probabilistic Roadmap(PRM)algorithm and Dynamic Window Approach(DWA)algorithm are used for global and local path planning of mobile robots.Aiming at the problem of PRM algorithm poor path quality,a node optimization method is proposed,and the improved PRM algorithm is tested.The results show that the improved algorithm can further optimize the path on the basis of guaranteeing the real-time performance.The experimental results show that the overall performance of the system is good and the expected goal can be achieved. |
