| With the development of science and robot technology,robots can begin to do more and more work instead of humans.In the research of robot related technology,robot navigation and positioning technology is a hot spot in current research,and it is also a difficult point.Positioning and navigation technology mainly includes magnetic strip navigation,two-dimensional code navigation,inertial navigation,laser navigation and visual navigation.Laser navigation has become more and more popular due to its lack of track and strong adaptability to the environment,but the current single-line laser Radar ranging range is very limited and susceptible to interference.Expensive single-line radar will greatly increase the development cost of robots.Millimeter wave radar is a commonly used sensor in automobiles.It is characterized by a large range of ranging and is not susceptible to interference.The main research content of this paper is how to use the common laser radar combined with millimeter wave radar to realize the positioning,mapping and navigation functions of the robot.The main research work is as follows:(1)The research on laser positioning and mapping technology mainly analyzes several commonly used SLAM algorithms,and studies the probabilistic problems,state estimation problems and the filtering algorithms used in the robot positioning algorithm.And summarize the characteristics and applicable scenarios of each algorithm,and select Google's Cartographer algorithm framework as the main framework of the SLAM algorithm.(2)Research on the principle and model of laser radar,the reading and correction algorithm of lidar data,introduce the motion compensation of the robot to compensate the distortion of the laser radar data,and then the principle and model of the millimeter wave radar and the millimeter radar.The filtering algorithm of the data is studied,and the advantages and disadvantages of the data of the millimeter wave radar and the laser radar are comprehensively considered.The data of the two are combined to realize the SLAM algorithm with higher environmental adaptability.(3)According to the background demand of the subject,the mechanical system,circuit system and software system of the logistics robot were independently researched and developed.The motion control model of the logistics robot was studied,and the global path planning,local path planning and dynamic obstacle avoidance algorithm of the logistics robot were realized.Enable the robot to autonomously locate and navigate under the premise of known environmental maps.(4)According to the research on the data characteristics of lidar and millimeter wave radar,the SLAM algorithm combining millimeter wave radar and lidar data is realized on the logistics robot,which makes the logistics robot adapt to more environments and improves the practicability of the logistics robot.(5)Single laser radar,single millimeter wave radar and positioning and navigation function tests combined with lidar and millimeter wave radar are performed on the logistics robot,and the actual operation results are compared.The results show that the SLAM is combined with millimeter wave radar and lidar data.The algorithm is significantly better than the single laser radar SLAM algorithm in the open environment. |
