Design And Implementation Of Multi-sensor Information Fusion Autonomous Navigation Mobile Robo

With the continuous progress of robot technology and the expansion of application areas,autonomous navigation mobile robots have become a hot topic in both research and application fields.In practical applications,robots equipped with a single sensor face problems such as inaccurate environmental perception,large positioning errors,and imperfect path planning.To solve these problems,this paper designs and implements an autonomous navigation mobile robot based on multi-sensor information fusion technology.The main research contents of the paper are as follows:(1)The design and construction of the mobile robot system is carried out.In terms of hardware,the system is built around the Mecanum wheel,and a sensor system is set up according to the requirements of autonomous navigation.in terms of software,the Robot Operating System(ROS)is used as the development platform and a motion control scheme for the mobile robot is proposed.(2)A kinematic analysis of the mobile robot is carried out and based on the problems of unstable positioning using a single sensor and low positioning accuracy,this paper proposes a multi-sensor information fusion positioning scheme.The Cubature Kalman Filter(CKF)algorithm is used to fuse the information from the encoder,Inertial Measurement Unit(IMU),and magnetometer,and the algorithm is simulated.The result shows that the algorithm has high positioning accuracy.(3)This paper conduct research on classical laser Simultaneous Localization and Mapping(SLAM)algorithms and path planning algorithms.In response to the traditional path planning algorithm,which easily results in a jagged path with many turning points,an improved optimization algorithm is proposed to smooth the path.Finally,the above developed mobile robot system and algorithm are combined and tested for the autonomous navigation mobile robot system.The map is constructed in a real environment using multi-sensor information fusion localization algorithm combined with SLAM algorithm,and autonomous navigation experiments are conducted to verify the improvement of localization accuracy and the effectiveness of improved autonomous navigation algorithm by multi-sensor information fusion algorithm.