Research And Implementation Of Key Technologies Of Inertial Navigation-based Sweeping Robot

Intelligent sweeping robot is the focus of research in the field of science and technology.The research and implementation of its key technology aims to replace the traditional manual sweeping work with e fficient intelligent sweeping.In this paper,the intelligent sweeper based on inertial navigation developed in cooperation with Changhong Granbo company is taken as the research object.The positioning navigation and multi-sensor fusion technology of the inertial navigation sweeper robot are studied.A path planning method for the whole area of the sweeper robot based on the real-time map generated by multi-sensor perception is proposed.Firstly,by selecting the single axis gyroscope and the code disk,the double positioning of the sweeping robot is carried out,and the error of the sensor and the common correction methods are analyzed.Kalman filter algorithm is used to realize multi-sensor data fusion,and the superiority of the fusion algorithm is verified by MATLAB simulation.Then,based on the inner and outer sensors and the bottom drive of the brush motor,the software function design of the control system of the sweeping robot is completed with the application of track calculation and map construction and the core of motor control and path planning.Among them,multi-level PID route control,dynamic PID route control,BFS algorithm and target point navigation algorithm based on finite state machine are used to complete the global path planning based on grid map.At the same time,it puts forward and expounds the emergency situation and specific solutions in the cleaning task.Finally,the simulation platform of sweeping robot based on v-rep is built to test the path planning algorithm.At the same time,the experimental platform of the sweeping robot is built to verify the effectiveness and feasibility of each algorithm module proposed before,and to verify the emergency handling method in the sweeping task.