Design Of ROS-based Differential Drive Mobile Robot Localization And Navigation System

The localization technology of robot mobile platforms is the foundation of navigation,which determines whether the robot mobile platform can successfully complete navigation tasks and is also one of the research hotspots in the field of mobile robots.With the implementation of the Made in China 2025 strategy,the demand for indoor mobile robots applied in smart workshops is increasing.In order to improve the accuracy and robustness of navigation and positioning of indoor mobile robots in complex work environments and meet the requirements of cost-effective customers,this paper adopts a localization method based on the fusion of laser radar and IMU data,and designs a fusion localization navigation system based on ROS through optimization and improvement of the RBPF-SLAM algorithm.Taking the smart workshop vacuuming robot as the test object,intelligent navigation and vacuuming functions are achieved.According to the functional requirements of the differential mobile robot,a general design framework has been formulated,which adopts a data acquisition method combining laser radar and IMU to realize the robot’s positioning and autonomous navigation functions.In terms of hardware system,important hardware components have been analyzed and selected.In terms of software system,this paper uses ROS as the development platform to build the robot’s positioning and navigation system.The paper also conducts research on the sensor coordinate transformation and map construction processes,and applies the RBPF-SLAM algorithm to simulate the process of grid map construction.The reasons for the errors generated by a single sensor have been analyzed.Through the research on SLAM-related theories,an optimized RBPF-SLAM algorithm has been proposed,which incorporates laser radar data and IMU data into the proposal distribution function and changes the resampling strategy,improving the integrity and accuracy of the map.Map construction experiments and autonomous operation experiments were designed.The experimental results showed that the positioning and navigation system using the optimized RBPF-SLAM algorithm had high map accuracy and smooth autonomous operation,verifying the feasibility of the overall design plan.