Design And Development Of Intelligent Escort Robot Positioning And Navigation System

In recent years,with the improvement of people's material living standards,the trend of aging has accelerated.The problem of population aging has put tremendous pressure on our aged care services.The issue of escort for the elderly,has become one of the social issues that need to be solved more and more urgently.The escort robot is a typical kind of service robots.The premise of being able to complete the escort work is to have a safe and reliable positioning and navigation.This article designs and develops an intelligent escort robot positioning and navigation system.The designed system can be used in escort tasks in indoor scenes such as homes and nursing homes.The main research work is as follows:Firstly,the overall needs of the intelligent escort robot is analyzed.On this basis,the key hardware selection of the system was completed.Then the main body software of the robot and the software structure of the host computer were designed.Secondly,by analyzing the characteristics of the indoor environment,a robot positioning scheme in the home environment is designed and the kinematics model and coordinate system model of the robot system are established.The laser positioning method based on the graph optimization theory is studied,and a method of fusing laser data,odometer information and IMU data with adaptive Kalman filter is designed to improve its positioning accuracy.Thirdly,in order to enable the escort robot to operate safely and reliably in the home environment,an improved visualization method is proposed to convert the global path planning problem into a graph-based shortest path planning.The Dijkstra algorithm is used to solve the shortest path between points,combined with an improved ant colony algorithm to solve the global path planning problem in complex environments.At the same time,using the idea of artificial potential field method,a local path planning algorithm is proposed to solve the problem of robot dynamic obstacle avoidance.Fourth,the software architecture of the robot body is realized on the ROS platform.The software-driven design and the message transmission between the nodes are completed,and the host computer software design is completed on the.NET platform.Based on the core algorithm,the communication module,positioning module,path planning module,motion module,remote control module,monitoring module and other functional modules are programmed and implemented,and performance tests are performed separately.