Research Of Integrated Navigation System For Autonomous Unmanned Rescue Robot

With the rapid development of the rescue robot intelligent technology both in theory and practice in recent years,multi-parameters and high intelligence rescue robot has become a hot topic.Simultaneity,accuracy and instability of autonomous navigation technology decide that whether the rescue robot can be safely and reliably accomplish the rescue mission.The development of autonomous navigation and positioning technology has experienced a structured indoor environment to an unknown unstructured outdoor environment,in the control mode,it has experienced the development process of manual control,remote control and full autonomous control.The application of the Viewpoint Feature Histogram(VFH)algorithm in this field increases the intelligent of navigation and positioning.Aiming at the problem of improving the autonomous motion ability of rescue robot,using Beidou system as basic navigation sensor,obtaining concrete environment information by radar,using multi-sensor to acquire and process data in different environments,an improved VFH obstacle avoidance algorithm is proposed,which improves the performance of autonomous navigation of rescue robot,and completed the following major tasks:Firstly,by knowing the composing mode,main function and working principle of the autonomous navigation system,it is found that there are some problems in the localization of autonomous navigation technology,such as the inaccurate acquisition and poor stability.Therefore,the use of China's independent development of the Beidou system positioning,by mean of the base station and mobile station of Beidou system to obtain the difference location information,the positioning accuracy of autonomous navigation is raised to centimeter level by the meter level,the experiment verifies that this method improves the accuracy and stability of navigation positioning,and gives the details of the results of data analysis.Secondly,the design and implementation of collision avoiding is the most important of autonomous navigation technology.In order to improve the autonomous motion capabilities of robots,an autonomous navigation algorithm based on Beidou Navigation Satellite System(BDS)and Laser Measurement System(LMS)was proposed.The current position,speed and course deviating from Target point of Mobile station can be calculated by a Real Time Kinematic finite-difference model of the BD system,and then combined with LMS access to environment information,selecting the optimal path,improved VFH obstacle avoidance algorithm,to calculate the optimal steering angle and heading to the target point.The experimental results show that the algorithm can guarantee safety navigation in different environments for robot.Lastly,the remote autonomous terminal is designed to improve the flexibility of rescue robot.It is divided into two parts: autonomous and remote control.The difference of communication ability between PC and robot under different environment is emphasized,and guarantee the real-time in data transmission efficiently of autonomous navigation technology.