Research On Autonomous Navigation Technology Of Mobile Robot In WMPS Measurement Field

Autonomous navigation capability is one of the key technologies for the intelligentization of mobile robots.Its realization requires that mobile robots can automatically obtain environmental information and their posture information relative to the environment and perform reasonable actions.Therefore,self-localization technology,mapping technology and path planning have become the keys to mobile robot autonomous navigation system.As a typical representative of distributed networked large-scale space coordinate measurement system,the workshop Measurement Positioning System(wMPS)has the characteristics of strong environmental adaptability and high measurement accuracy,and can realize highprecision mobile robot real-time space six-degree-of-freedom pose measurement in complex environments.This paper takes the wMPS-based mobile robot selflocalization technology as the technical premise,and makes an in-depth exploration of the mapping technology,path planning,and receiver orientation planning.Existing mobile robot autonomous navigation systems generally do not use localization accuracy as an index to judge the rationality of the path.In a complex environment,the mobile robot’s self-localization measurement system is subject to more interference,and the accuracy of the positioning result is misaligned,which in turn affects the robot’s judgment of the distance between the obstacle and the target.For the first time,this paper uses localization accuracy as the characteristic information of mapping,so that the robot can identify hidden positioning measurement blind spots in the measurement field.In view of the above purposes,the main research contents of this paper are as follows:1.Based on the measurement principle of wMPS,we analyze the nature of the spatial configuration of the wMPS transmitting station,and obtain a method for quickly calculating the uncertainty of the theoretical positioning of the mobile robot in the measurement field.2.We perform information processing on the raster map expressing the terrain height of the measurement site,including the calculation of the site undulation and site slope and the determination of the area covered by the wMPS measurement optical signal.We integrate the localization accuracy information into the mapping representing the traversability index of the mobile robot.On this basis,using genetic algorithm and Bresenham algorithm to get the optimal path of the mobile robot to the target point.3.According to the optical signal receiving characteristics of the wMPS receiver,we design and implement the autonomous steering function of the receiver.Its purpose is to ensure that during the navigation process,the receiver can always effectively receive the optical signal from the wMPS transmitting station,thereby further improving the real-time localization performance of wMPS.