Design Of Mobile Robot Control System Based On Inertial Navigation

In recent years,mobile robots are becoming a hot research field of international robot academia.It is widely applied in industry,agriculture,medicine and all aspects of human life,showing a more extensive application prospects.Both domestic and foreign researchers conducted in-depth research in mobile robot.It is achieved that mobile robot can voluntarily move in a real environment by using high level of environmental information sensor and high adaptive control technology.In this paper,the mobile robot is the control object.We design and develop the mobile robot control system which based on the inertial navigation.The main contents of this paper are as follows:1.The main technology of positioning,navigation and the technical method of information fusion is analyzed.And the mobile robot is designed on the whole.Robot’s mechanical body uses a stepping motor with two differential drive scheme.We use STM32 embedded microprocessor as the core of the control system,and the system is divided into power modules,mobile modules,sensing modules,navigation modules respectively to design.2.Describe the working principle of inertial navigation system.Analyze the five common coordinate systems used in navigation system,transformation of coordinate system and the attitude algorithm of carrier.Finally,according to the simplified method of inertial navigation that we design in this paper.It is achieved that we can control mobile robot motion by using the inertial navigation and magnetic sensors.We analyze and design the initial alignment of inertial navigation system and achieve the navigation angle and offset error correction to ensure the accuracy of mobile robot navigation system.3.The mobile robot control system adopts the closed-loop control of the navigation angle.It fuses the navigation parameters obtained by inertial navigation and magnetic guidance by using kalman filtering algorithm.We analyze and design the stepper motor acceleration and deceleration control method and achieve the control of mobile navigation using the PID control algorithm.In the end,this paper summarizes the mobile robot control system based on the inertial navigation.Then putting forward the innovation and deficiency,pointing out the direction of future research priorities.