基于激光雷达空气净化导航机器人的研究与设计

Research and design of navigation robot for air purification based on lidar

基于二维激光雷达设计了一种适用于室内空气净化的自主导航移动机器人。针对目前RBPF算法因容易出现粒子退化而导致定位精度差、建图速度慢等问题,采用了一种改进的RBPF算法进行地图的构建,提高定位精度和建图速率的同时实现对机器人的自主导航。机器人在移动时会实时检测当前环境信息,当出现数据异常便自动开启空气净化装置,并将数据实时传输到云端服务器供用户监控。经实验验证,本系统可以更加快速地构建未知室内环境地图,并有效地完成多点室内空气净化任务。

Based on two-dimensional laser radar,this paper proposes a robot suitable for indoor air purification and autonomous navigation.For the problems that the RBPF algorithm is prone to particle degradation,which leads to poor positioning accuracy and slow mapping speed.An improved RBPF algorithm is used to construct the map,to im-prove the positioning accuracy and the mapping rate,and to realize the autonomous navigation of the robot.When the robot moves,it will detect the current environmental information in time.When the data is abnormal,the air purification device will be automatically turned on,and the data will be transmitted to the cloud server in time for monitoring by the user.The experiment proves that the system can construct the unknown indoor environment map more quickly and ef-fectively complete the multi-point indoor air purification task.