移动机器人自主定位和导航系统设计与实现

Design and Implementation of Mobile Robot Autonomous Positioning and Navigation System

为实现未知环境下,移动机器人自主定位和导航,构建精准的环境地图,提出移动机器人导航系统设计方法。采用蒙特卡洛算法对机器人进行定位,通过栅格地图扫描匹配方法进行地图构建,利用Dijkstra算法对当前地图进行路径规划。将上位机和下位机串口通信,把上位机路径规划的Twist消息发送给下位机,采用底层控制器来控制电机,实现移动机器人自主运动。实验结果表明:在实际环境中,移动机器人能够从起始点出发,自主绕过障碍物到达目的地,验证了该移动机器人自主导航系统设计方法的有效性。

To realize the autonomous mobile robot localization and navigation,and to construct a precise environment map,a mobile robot navigation system design method was proposed.The Monte Carlo algorithm was used to locate the robot.The grid map scanning matching method was used to construct the map,and the Dijkstra algorithm was used to plan the current map.The serial port communication between the upper computer and the lower computer was built,and the Twist message of the upper machine path planning was sent to the lower computer,and the bottom controller was used to control the motor to realize the autonomous movement of the mobile robot.The experimental results show that in the actual environment,the mobile robot can start from the starting point and autonomously bypass the obstacle to reach the destination,which verifies the effectiveness of the mobile robot autonomous navigation system design method proposed.