Research On Self-exploration And Mapping Technology Of Indoor Mobile Robots

As the complexity of the actual environment increases,people’s autonomy and intelligence of mobile robots also raise higher demands.This topic combines the research results of the predecessors and the research needs of the research group to provide a certain reference value for the intelligentization and autonomy of the smart storage stacking forklift,and to explore the construction technology of the mobile robot in the indoor unknown environment.Related research.By adding an effective autonomous exploration strategy and combining with the actual environment,the independent exploration and map construction functions of the unknown indoor environment can be realized on the self-built mobile robot platform.The main research contents and results are as follows:(1)Starting from the future development and economic applicability of the robot,the construction of the mobile robot platform was completed.Including the mobile robot hardware design and the structural design of the platform,the robot has good stability.Secondly,based on the current mainstream robot operating system ROS,the distributed software control system of the mobile robot platform is designed.Finally,the mobile robot is used.The human-computer interaction function of the mobile robot is designed with convenience and more humanization.(2)Research on the system model of mobile robots and the key technologies of the autonomous SLAM system.Firstly,the coordinate system model of the mobile robot’s autonomous exploration and mapping process is established.The motion model of the mobile robot and the lidar observation model are established according to the defined coordinate system.In addition,the map expression model suitable for the subject and the simultaneous positioning are established.The map construction algorithm and the path planning algorithm used in the exploration process provide the necessary premise for the research of autonomous exploration algorithms.(3)Research on the boundary-based autonomous exploration algorithm.On the basis of the traditional boundary exploration algorithm,the boundary region is defined concretely and the extraction method of the exploration target point coordinates is determined.During the exploration of the mobile robot,the obstacle factor and the path cost of the robot to the target point are taken into consideration.According to the two parameters of the evaluation path length and the danger degree,the boundary is continuously detected in the dynamic distance region,and the next moment of exploration is determined.The target point is to realize the design of the dynamic range boundary exploration algorithm.(4)In the closed and unknown indoor environment,based on the robot operating system(ROS),the self-exploration and mapping related experiments were completed using the mobile robot platform.The self-exploration mapping experiment,map navigation test and robustness test were carried out respectively to verify that the dynamic range boundary exploration algorithm proposed in this paper is better than the traditional boundary exploration in the construction speed,map coverage and map navigation performance.The graph algorithm is better,which makes the mobile robot more efficient and reliable for independent exploration and map construction of the unknown indoor environment.In order to realize the mobile robot’s function of autonomous exploration and mapping of unknown indoor environment,it provides theoretical basis and reference.