Research On Motion Control And Navigation And Positioning Technology Of Indoor Mobile Robot

With the decrease of the domestic working labor force and the increase of labor cost,robots have begun to replace the labor force in many industries,which further stimulates and promotes the technological innovation and application of the robot.This thesis is written about an indoor mobile robot suitable for hotel and office environments.In order to enable it with stable and accurate movement ability,infallible autonomous positioning,safe and efficient navigation and obstacle avoidance ability,the research deepens its study on the methods of its motion control,navigation and positioning.First of all,the robot overall scheme is designed according to the characteristics of robot functional requirements,which includes a robot hardware architecture realized by a masterslave distributed controller,four subsystems including motion control,integrated positioning,navigation and obstacle avoidance and human-machine interaction divided by modular concept,and the explanation of the function of each subsystem.Secondly,the design took the STM32 microcontroller equipped with u COS-III real-time operating system to realize the driving control of differential drive chassis and the collection of sensor data.The relevant hardware circuit and software was also designed to achieve the tracking and control of the robot using model predictive control algorithm.Furthermore,a multi-sensor fusion algorithm of the integrated positioning system sensor was set up after finishing the device selection and measurement model establishment.The serial extended Kalman filter fusion of multi-sensor was carried out with odometer and gyroscope for unknown environment positioning.An improved Monte Carlo location algorithm based on UWB location to provide the initial region of prior particles was designed in the known map location in order to solve the global location failure and "robot abduction" problems.Next,an algorithm of multi-sensor fusion using ultrasonic sensor and lidar was proposed and designed to realize three-dimensional obstacle detection.The JPS path planning algorithm was improved comprehensively using reverse search space,path splice and curve smoothing,and at the same time,it was integrated with DWA algorithm of optimization evaluation function to come up with a reliable and stable dynamic motion planning algorithm suitable for complex environments.Then,the docking of the Web pages and ROS was realized by using Rosbridge when two sets of user operation interface and administrator background interface were designed as well.Furthermore,a set of reliable and convenient human-computer interaction interface was realized by using different operation permissions and management interfaces according to the two different sets of system interfaces.Finally,with the optimization of algorithm and the experiment of robot function,it was verified advanced technology and promising future that the designed technology of indoor mobile robot control,navigation and positioning has.