Research On Intelligent Wheeled Robot With Multi-sensor Fusion

Wheel structure is a common type of motion structure for robots.Compared with the legged type,crawler type,and other structural types,it has the characteristics of simplicity and high efficiency.In recent years,the rapid development of wheeled robots has made them more intelligent,but there are still several problems.(1)The single-sensing solution cannot meet the needs of complex scenarios.And the cost is difficult to balance.(2)The computing resources of embedded devices are difficult to meet the multi-sensor fusion algorithm.(3)Robots with autonomous navigation and grasping functions are difficult to achieve precise control.To this end,this paper conducts the following research on the above issues.I.A multi-sensor fusion autonomous navigation control algorithm based on Dynamic Window Approach(DWA)is proposed.The algorithm divides the robot navigation area according to the importance of the navigation area and the characteristics of the sensor parameters.After the division,the core area of the navigation adopts the multi-sensing fusion scheme of "Li DAR +",and only the Li DAR is used in the non-core area,to improve the multi-sensor The effect of sensory fusion,while reducing the number of sensors used for fusion and the difficulty of data processing.II.A multi-sensor fusion adaptive adjustment algorithm is proposed.The algorithm introduces a dynamic load adjustment mechanism,and independently selects the optimal sensing solution according to the resource status of the embedded device,multi-sensing fusion scheme,and algorithm complexity;Control strategies such as conventional type and performance type,and independently select the appropriate sensing solution.III.To verify the multi-sensor fusion algorithm proposed in this paper and the performance of the self-designed flexible manipulator,a wheeled robot with a grasping function was built.The robot subsystem includes:(1)Develop and realize the main control system based on the Robot Operating System(ROS).(2)Design and develop the underlying motion control system based on STM32.(3)Design and develop the flexible robotic arm based on an independent grasping control system realized by supporting control algorithm,and a set of control systems based on 6 degrees of freedom(6Do F)rigid robotic arm was built for comparative experiments.(4)Based on the ROS design and development,the integration of voice,text,and vision,an intelligent interactive system that integrates interactive forms such as graphical interfaces.Finally,the algorithm proposed in this paper is deployed on an embedded platform,and the experiment of combining autonomous navigation and grasping is carried out in an unstructured environment.The autonomous navigation and grasping tasks can be well completed on the two platforms built,which verifies the effectiveness of the multi-sensor navigation algorithm proposed in this paper and the self-designed flexible manipulator.