Design Of Integrated Navigation System For Teleoperated Mobile Robots Assisted By LiDAR

With the further expansion of human activities,the teleoperated mobile robot has become an essential piece of equipment for missions in hazardous environments and military fields due to the property of dexterity,convenience,and maneuverability.As a core component of teleoperated mobile robots,navigation technology is the basis for achieving operational tasks in dynamic and unknown environments.The navigation process of the teleoperated mobile robot is limited to obtaining external environmental information,which influences the accurate operation in various unknown environments.LiDAR,an active sensor with the property of all-weather,high measurement accuracy,and strong anti-interference,can provide powerful support for the navigation of teleoperated mobile robots.In view of this,the combined navigation system of teleoperated mobile robots is taken as the research object in this paper.A LiDAR-assisted combined navigation system model and the EKF-based navigation and positioning method of teleoperated mobile robots are proposed.Then,a set of LiDAR-assisted combined navigation system of the teleoperated mobile robot is designed.The main research results are as follows:(1)A LiDAR-assisted combined navigation method for teleoperated mobile robots is investigated.In this method,a mathematical model of the LiDAR-assisted combined navigation system based on the system error is established.Then,the measurement equation of EKF using the difference of position and velocity information acquired by sensors is constructed.Moreover,a combined navigation method for teleoperated mobile robots based on EKF is proposed.Simulations are carried out to prove that the proposed algorithm can effectively improve the navigation accuracy of teleoperated mobile robots.(2)A LiDAR-assisted combined navigation system for teleoperated mobile robots is designed.Under the framework of combined navigation,a hardware system is designed consisting of GNSS receiver module,inertial guidance measurement module,microprocessor module,data storage module,LiDAR module,external communication module,and main control board.Meanwhile,the upper computer software is designed,which includes the functions of system communication,combined navigation,map display,and data storage.This realizes the LiDAR-assisted combined navigation system for teleoperated mobile robots.(3)The LiDAR-assisted combined navigation experiments for teleoperated mobile robots are conducted.The combined navigation verification platform is built with Dash Go D1-50 robot for teleoperated mobile robots,and the combined navigation experiments are presented under open and obscured scenarios,respectively.The results show that the designed system can provide accurate and continuous navigation and positioning information for the teleoperated mobile robot.Moreover,it can effectively compensate for the inertial sensor drift,and achieve robust and accurate navigation and positioning results.