Location And Navigation Of Indoor Mobile Service Robot Based On ROS Research And Development

In recent years,due to the development of information technology and industrialization,the robot industry has been developing in the high-tech industry,and it is in the stage of vigorous rise.In the wave of upgrading of Chinese manufacturing industry,the development of robot technology is especially important.In the increasingly competition in the global industrial revolution,robot technology has gradually become one of the core science and technology.At the end of 2015,Beijing China National Convention Center held the World Robot Conference,China will also be strategic in the robot and intelligent manufacturing into the national science and technology innovation priorities.The Robot SLAM technology is one of the core technologies in robot technology,SLAM called simultaneous localization and mapping.Mapping,location and path planning are the main research directions of SLAM.The SLAM algorithm requires a complete communication system to combine the sensor data with the algorithm.ROS,as known as the Robot Operating System,was released by Stanford University in 2007 with Willow Garage.ROS provides a standard operating system environment,including hardware abstraction,the infrastructure device control,the realization of common functions,the process of message and function package management.Through the ROS system,we can be pass the result by the algorithm through the node to the infrastructure control layer for motion control.Around the above aspects,this paper focuses on the robot location and path planning.Based on the existing research,including the following contents:(1)Introduce robot development research status at home and abroadThrough the research status at home and abroad to illustrate the significance of this issue,from the current development of the current situation leads to related technology.(2)Research on Robot kinematics model and the observation modelResearch the velocity model and the odometer model of the robot,and established the kinematics model of the robot.Analyze the environment noise and the effect to robot.Research on the observation model for decreasing the influence of noise.(3)Research the robot location algorithmIn this paper,the localization algorithm is based on the probability algorithm.Firstly,the kinematics model and the observation model are established based on the robot.Then,the model is integrated into the filter algorithm to realize the robot position estimation.The validity of the algorithm is verified by MATLAB simulation.At last,combine location algorithms with ROS.(4)Research the robot navigation algorithmThe navigation algorithm is divided into two parts: global path planning and local path planning.In this paper,two algorithms are proposed for each of these two parts,and the algorithm is validated in MATLAB,and Optimize the path planning.Finally,combine navigation algorithms with ROS.(5)Build an experimental platformIn this paper,the location and navigation module for MATLAB simulation and test platform structures,the use of two-wheeled vehicles equipped with Intel processors,laser radar,through the STM32 embedded development board to control the car.ROS runs on a small low-power PC.At last,we completed the laboratory environment mapping,location and navigation tasks.