Design And Implementation Of Autonomous Navigation Logistics Robot Control System

In the structured environment,the traditional AGV can deal with most scenes and realize the automatic transportation of goods.However,in the unstructured environment such as hotels and office buildings,the automatic transportation of goods requires robots to have stronger autonomous mobile ability.Aiming at this application scenario,a control system for an autonomous transportation robot in indoor environment is designed and implemented.Firstly,the scheme of the mobile robot control system was designed,which determines that the control system consists of four parts: motion control subsystem,positioning and navigation subsystem,task execution subsystem and remote monitoring interface.Scheme for each of the four parts was respectively designed.After that,MCU controller selection and control board circuit design of motion control subsystem were completed,and the motion control software design of chassis and manipulator was completed with embedded real-time operating system ? cos-iii.Then the autonomous positioning and navigation subsystem based on the combination of lidar and odometer was built under ROS,and the interface program of the navigation function package was designed so that it can be applied to the robot platform in the project,thus fullfil the autonomous navigation function.After that,the mapping and navigation function of the subsystem was simulated using gazebo so as to preliminary examine its performance.Then the task execution subsystem was designed.Based on the actual application scenario,the concepts of landmark navigation and serialization action task were proposed.For the implementation of global task,the detailed task flow was designed firstly,then the programming for the function nodes related to tasks was completed.Out of the requirement of interacting with the client,programming for the terminal communication node was conducted.Then,in order to realize the interaction function between user and robot,the remote monitoring interface was designed.Interface elements include task execution interface,map display interface,manual remote control interface,action record setting interface,etc.Finally,the system functions were verified by experiments.The experimental results indicated that the robot has already possessed the function of navigating autonomously nearby a room entrance with its door number given,thus the function of automatic transportation of goods was realized.