Design And Implementation Of Mobile Robot System For Shooting Training

With the rapid development of science and technology in China in recent years,military training has gradually merged with emerging technologies such as artificial intelligence and automation technology.Among these,the mobile target robot system for soldier shooting training has emerged as a hotspot in the field of military robots.When compared to traditional shooting training methods,the mobile target robot system can significantly improve soldiers’ accuracy.This paper designs and implements a mobile robot system for shooting training in order to achieve the aforementioned mobile target shooting training.The following are the specific research contents:(1)The scheme design of the mobile robot system has been completed based on the application scenarios and actual requirements of the mobile target shooting training.To begin,the specific functions and engineering requirements of a mobile robot for shooting training are presented,followed by a mechanical structure design scheme for a mobile robot based on these requirements.Second,the hardware and drive system design scheme of a mobile robot is provided in accordance with the function and mechanical structure design scheme of mobile target shooting training.Finally,the design scheme of a mobile robot positioning and navigation system for shooting training is provided by comparing the advantages and disadvantages of various navigation methods based on the ROS operating system.(2)The mechanical structure,hardware,and driving software of a mobile robot are designed in accordance with the design scheme.First,the mechanical structure of the mobile robot is designed and realized using four-wheel differential sliding steering and multi-link independent suspension,and the mobile robot’s kinematic model is built on this foundation.Second,the hardware circuits of the mobile robot main control module and the driving module are designed and realized using the STM32F407VET6 single chip microcomputer,and the driving control of the mobile robot body is realized using the kinematics model and vector control method.Finally,a test platform is constructed to validate the logic and dependability of the design of the mobile robot body,main control unit,and drive module.(3)The positioning and navigation system for shooting training is designed and implemented after the aforementioned mobile robot ontology structure and hardware driving function are completed.To begin,the precise positioning of a mobile robot is achieved by combining GPS and IMU sensing information and employing the extended Kalman filter algorithm.Second,using a Web map as a foundation,millimeter wave radar is used to detect obstacle information,and a mobile robot can dynamically avoid obstacles using the TEB local path planning algorithm.Finally,the mobile robot positioning and navigation experimental system is built,which verifies the feasibility and stability of the mobile robot positioning and navigation system.