Design And Implementation Of Indoor Mobile Platform For Family Services

As the aging of population is aggravating,the demand for indoor mobile platforms for home services is also growing.In this subject,a family service oriented indoor mobile platform was designed according to the function requirements of family service.Firstly,according to the function and performance index of the indoor mobile platform,and based on modular design idea,we designed the hardware scheme and software scheme of the indoor mobile platform which includes two-wheel differential drive system,SLAM and navigation system,human infrared detection system and real-scene image acquisition system.Then,we designed the mechanical structure of the indoor mobile platform,set up each system module and selected its various hardwares.The three wheel chassis structure and the differential driving mode of the mobile platform were designed.The appropriate lidar was selected to get environmental map information and the appropriate odometer was selected for relative location,based on which the SLAM and navigation system was constructed.Based on the mechanism of slave computer interruption processing,an appropriate infrared sensor was selected to detect human infrared.According to the functional requirements of the real-scene image acquisition system,an appropriate camera was selected to collect real-scene image,and its methods and steps were designed.Besides,the structure of SLAM system on mobile platform was analyzed,and motion model and observation model of the mobile platform were constructed.The traditional SLAM algorithm based on Rao-Blackwellized particle filter was analyzed and an improved scheme was proposed.By comparing the algorithm before and after the improvement,the validity and superiority of the improved algorithm were verified.The global path planning based on A*algorithm was simulated and analyzed.The local path planning algorithm based on DWA was analyzed,and an improved scheme was proposed for the existing problems in the practical application of the traditional DWA algorithm.According to the abnormal situation that the mobile platform may encounter in the navigation process,an exception handling scheme was proposed.Finally,based on the ROS software development platform,the software system was built for each of the above modules.Taking the indoor mobile platform that completed the above hardware and software system as the experimental object,functional verification experiments were conducted on the corridor of the laboratory building.