Research On Navigation System Of Service Robot Appied In Library For Patrol And Inventory

Intelligent service robot is the inevitable requirement of high-quality smart library construction,the function such as patrol inspection,inventory,handling and guiding can be implemented based on the mobile robot.The key point is to realize the autonomous movement of service robot in the human-integrated library environment for complex tasks.Based on the research and summary of key technologies of robot navigation,a complete library service robot navigation system is designed and constructed to meet the practical application requirements.In terms of indoor positioning,a method based on object recognition and map matching is proposed.Under the hypothesis of the rigid body transformation,the local object semantic map,which is recognized by the advanced deep learning network,is searched and matched with the known global object distribution based on the floor plan.Pose estimation of the fusion inertial navigation information is obtained by the extended Kalman filter algorithm.From the point of view of motion plan and control,firstly,the image processing technology is used to automatically extract the critical path points,and then,the multi-tasks planning is decomposed by behavior tree.The global path planning is realized by integrating bezier curve and generalized voronoi diagram algorithm.Model predictive controller is applied for dynamic pedestrian obstacle avoidance and path tracking.In particular,a reactive navigation behavior with local laser lines feature guidance is added inside the continuous bookshelf area.Finally,the integration and debugging of algorithms are realized based on the robot operating system.The navigation system architecture is realized with convenient local human-computer interaction interface.In simulation and real environment,the navigation system is tested,analyzed and optimized.The experimental results show that it can meet the design functions and requirements,and it is convenient for the library managers to use and interact with the readers safely.