Design And Research Of Mobile Robot Based On Lidar

With the continuous breakthrough of science and technology,robots have become the most representative technological products.The indoor wheeled sweeping mobile robot is the most representative product,the focus and difficulty of current research in the field of robotics.Aiming at the disadvantages of traditional mobile sweeping robots such as low work efficiency and low environmental acquisition accuracy.The whole system idea is: first obtain environmental information through the lidar acquisition module,and then upload the information to host computer through serial communication for data processing and map construction.On the basis of the established map,according to the current state of the robot and the path planning algorithm,The upper computer issues instructions to the lower computer to complete the running action to complete the pre-planned running state.The main research content is mainly divided into:(1)First,analyze and compare the obstacle avoidance,positioning technology,information fusion technology,and path planning technology that have been applied in this field in recent years,and select the appropriate solution based on the experimental goals,and uphold the low Cost,low energy consumption,high work efficiency and other indicators,model construction and analysis of research goals.(2)Hardware platform related design: The microcontroller module of the system with STM32 single-chip microcomputer chip as the core is mainly used to collect internal pose information such as IMU and encoder for track calculation.Use lidar to collect external environment information and build raster maps;the short-distance obstacle avoidance module uses ultrasonic sensors and infrared sensors as auxiliary sensors;(3)The main design of the software module: use the Keil5 software development platform to write related programs;use based on the extended Kalman Two-stage fusion algorithm of filtering and particle filtering;install the Linux-based ROS system on the Raspberry Pi 3B+ to process the information collected by the lidar and build the environment map;verify the feasibility through Matlab software.The improved reciprocating method combined with A* algorithm is used in experimental development.The experiment in this paper verifies the feasibility of algorithm design and the accuracy of information collection.After testing,the lidar detection has higher environmental detection accuracy.In the path planning,the data obtained from the experiment shows that the coverage rate is 100%,the repetition rate is only 1%,the feasibility is very high and efficient,and it meets the purpose of this subject research..