Multi-sensor Fusion Based Mobile Robot Navigation In Abandoned Mining Areas

The traditional method of soil detection in abandoned land is manual collection.Because the environment of abandoned land is relatively bad,it needs a lot of manpower and material resources,and there are some hidden dangers.The effective way to solve this problem is to realize soil acquisition by using intelligent mobile robot.Because the abandoned land environment in the mining area has the complexity of road scene changing,which causes wheel slip to different degrees,and the abandoned factory buildings affect satellite positioning,it is difficult to realize accurate positioning by traditional navigation and positioning methods of mobile robot.Therefore,this thesis designs a mobile robot navigation system for the abandoned land in the mining area.The main research work is as follows:1.A set of mobile robot navigation system for abandoned land in mining area is designed.Firstly,the thesis analyzes the influence of the environmental characteristics of the abandoned land on the navigation and positioning of mobile robots,and clarifies the demand and function of mobile robots in the abandoned land.Then,according to the function and demand of mobile robot navigation system in abandoned land of mining area,the sensor and hardware design are determined and the selection of related hardware equipment is completed.Finally,based on the robot operating system(ROS),the software architecture and sensor reading node of the robot navigation system are designed.2.A multi-sensor integrated navigation and positioning algorithm based on fuzzy confidence extended Kalman filter(fekf)is proposed.Firstly,the shortcomings of EKF in multi-sensor fusion are analyzed.Then,in EKF framework,a multi-sensor information fusion algorithm based on fuzzy reliability is proposed.The algorithm dynamically adjusts the covariance matrix of sensor information by fuzzy strategy,depicts the confidence of sensor information,and then realizes the fusion pose estimation of wheel odometer,IMU and GNSS RTK based on EKF algorithm.Finally,the navigation framework of mobile robot is established.Based on the implementation of robot position and attitude estimation by fekf algorithm,the environment map is established,and the navigation of mobile robot is realized by combining path planning.3.The function and effectiveness of the navigation system are comprehensively tested and verified.Firstly,the connection between the motion control and the related sensors of the mobile platform in the mobile robot navigation system of the abandoned land in the mining area is tested.Then,the fusion results of the proposed fekf algorithm and the existing EKF algorithm are compared in the experiment,and the effectiveness of the proposed algorithm is verified.Finally,the framework of mobile robot navigation system is verified,the environment grid map is established,and the robot can avoid obstacles dynamically and complete the navigation function from the starting point to the target point in the dynamic environment.