Indoor Navigation Method And Implementation Of Mobile Robot Based On Data Logic Characteristics

Robot technology is a representative field in the development of Automation Discipline,which is of great significance to promote the development of emerging industries.Among them,the development of mobile robot is in the ascendant and has a wide range of applications.There is a huge application gap in the fields of factory operation,hotel service,medical care and health care.Because the working environment of mobile robot is mostly in relatively closed indoor space,the mapping and navigation of mobile robot is the core technology to realize its autonomous movement.At present,the popular solutions for indoor mapping and navigation of mobile robots have the following problems:(1)the application effect of structured environments such as corridors is poor(such as the commonly used Adaptive Monte Carlo positioning technology);(2)Based on the fixed algorithm or model,the flexibility is insufficient,which is often more complex and consumes more computing power and storage space;(3)The cost of software and hardware is relatively high,and it lacks openness and interoperability.To solve the above problems,this paper proposes an indoor mapping method of mobile robot based on data logic characteristics,and independently designs the mobile robot prototype system to realize the mapping and autonomous navigation of mobile robot.The main work of this paper is as follows:(1)This paper presents a method of indoor mapping of mobile robot based on data logic characteristics.Firstly,the feature map representation of mobile robot is given,and the concept of map feature points is clarified.Secondly,it theoretically expounds the rationality and feasibility of establishing feature map based on prior knowledge,and establishes the extraction model of map feature points based on P-set theory system,the disjunctive model can extract map feature points,establish feature maps and dynamically discover map feature points.Finally,the feasibility of the disjunctive model is verified under different sensor networks.(2)The design of the lower computer control platform of the mobile robot prototype system is completed.Firstly,the hardware platform of mobile robot is built,and the pic core controller of the hardware platform is designed independently.Secondly,a software modular framework with high cohesion and low coupling is designed,under which software modules such as interpreter,driver and sensor network perception are developed.Finally,the relative positioning and trajectory tracking of the mobile robot are realized through sensor data fusion.(3)The upper computer platform software of the mobile robot prototype system is developed,the software adopts C/S architecture,including three interactive windows:teleoperation,sensor network configuration and autonomous navigation.Firstly,the software is used to remotely operate the motion of mobile robot,and its motion process is decomposed.The hierarchical management mechanism of operation task and the instruction structure of operation task are designed.Secondly,the autonomous and artificial networking of mobile robot sensor network is realized,the ontology model is used for unified management of sensor network,and the monitoring and storage mechanism of sensor data information is designed.Finally,the implementation methods of establishing feature map and autonomous navigation of mobile robot system are given:the sensing data information is obtained through teleoperation and a priori knowledge base is formed;Using clustering analysis algorithm and user experience to extract map feature points,obtain the trigger attribute set of each map feature point(that is,analyze and extract map feature points),and establish feature map;The multi-stage autonomous navigation of mobile robot is realized by establishing the trigger strategy instruction set and compiling the strategy.(4)The feasibility of the method given in this paper is verified by designing corridor environment with simple,medium and complex difficulties.After one teleoperation in a simple corridor environment,the mobile robot system completes autonomous navigation from four different starting points.In medium environment and complex environment,mobile robot system can correctly establish feature map and complete autonomous navigation.The initial sensor network is expanded and the sensor node of "camera door number recognition" is added.In complex environment Ⅱ(autonomous navigation fails under the initial sensor network),the mobile robot establishes the correct feature map and completes the autonomous navigation.It is proved that the dynamic characteristics set of map feature points can effectively improve the accuracy of mapping and navigation.