Navigation Technology Of Mobile Robot In Channel Based On Online Parameter Identification

At present,mobile robots have been widely used in factory logistics,station inspections,service industries and other occasions.These applications are usually semi-structured environments,but there may exist narrow areas,and external signals are difficult to cover,which limits the passage of inspection robots.In order to achieve trajectory tracking in the channel,this paper studies the navigation technology of a mobile robot in a channel based on online parameter identification.Taking indoor passages as an example,this article selects a four-wheel skid steering mobile robot as the research object,designs a reasonable drive mode and chassis size,selects appropriate drive components according to actual needs,and completes the overall design and communication debugging of the mobile robot.Lidar is applied to the environment sensing and real-time navigation in the channel,and a method of segmenting and matching channel data is designed,and then B-spline fitting is used to fit the calculated trajectory points to make it closer to the real curve.The kinematics model of the mobile robot with slip rate parameters was established,PID control algorithm and model predictive control algorithm were designed.the error model,objective function and constraint parameters of the trajectory tracking control algorithm were selected according to actual control requirements,and MATLAB\SIMULINK was used to simulate.The tool compared the control effect between the two and found that the model predictive control algorithm can track the upper path more quickly and accurately.In view of the kinematic model with unknown slip rate,a model predictive control algorithm based on online slip rate identification is designed,and the heading angle and lateral error input to the controller are filtered to improve the accuracy of motion control.Then the simulation verification was carried out by MATLAB\SIMULINK tool,which proved that compared with the general MPC algorithm,the control algorithm can control the mobile robot in the channel more effectively when the slip rate is unknown.Finally,a corresponding experiment was designed to verify the performance of the mobile robot in tracking straight and curved trajectories in the channel,and to verify its passability.Then designed a comparison experiment between the optimized model predictive control algorithm and the general model predictive control algorithm in the straight channel.According to the experiment,the algorithm designed in this paper has higher control precision,and this algorithm can keep up with the real-time calculated trajectory quickly and accurately,and this algorithm meets the real-time control demands.