| In order to solve the positioning and path navigation problem of outdoor mobile robot with nonholonomic constraints,this paper will solve the positioning problem of outdoor mobile robot through the joint positioning method of vision sensor(camera),IMU sensor,wheel odometer and GPS equipment;through the construction of coverage area map of the working area in the environmental map and the complete positioning based on dubins curve model Covering path planning to solve the path planning problem of outdoor mobile robot with nonholonomic constraints;by modeling the coordinate system model and kinematics model of outdoor mobile robot,the trajectory tracking algorithm of outdoor mobile robot is completed to ensure that the mobile robot can reach the target point accurately and quickly.In order to achieve the algorithm research task mentioned above,the main research work of this paper can be summarized as follows:(1)Aiming at the actual outdoor working scene,it is difficult to meet the positioning requirements of mobile robot only relying on vision slam positioning system.In order to provide more stable,more robust and more accurate positioning information for outdoor mobile robot,a vision based multi-sensor fusion positioning algorithm system is proposed to fuse the gyroscope information and wheel odometer information in IMU To obtain stable,robust and accurate pose output.(2)In the outdoor work scene,it may be difficult to avoid the error by relying solely on the vision based multi-sensor fusion positioning algorithm,because the GPS data is introduced as the global pose to correct the positioning result of vision based multi-sensor fusion,in order to obtain stable and robust pose output in the outdoor work scene.(3)In view of the limitation of the mechanical structure of the outdoor mobile robot with non complete constraints,in the actual full coverage path planning process,it is necessary to fully consider the turning radius limitation,the turning angle limitation and the timeliness and robustness of the algorithm of the outdoor mobile robot with non complete constraints.(4)In order to solve the problem of high real-time performance and coverage efficiency in the actual navigation algorithm running process,based on the construction of the coordinate system model and motion model of the differential wheeled mobile robot,combined with the Los algorithm,the navigation algorithm of the mobile robot with nonholonomic constraints is studied.In conclusion,according to the research plan,this paper will implement a slam system of outdoor mobile robot which integrates multiple sensor information. |
