Differential GPS based tracked autonomous navigation robot and navigation method thereof

Abstract

The invention discloses a differential GPS based tracked autonomous navigation robot and navigation method thereof. The robot includes a left DC brushless motor, a right DC brushless motor, a left rotary encoder, a right rotary encoder, a dual DC brushless motor driver, a vehicle-mounted antenna, a vehicle-mounted board card, an industrial control computer, a lithium battery pack, a network camera, a front GNSS receiver, a rear GNSS receiver, an image and data transmission radio station, and a 3D laser radar. The navigation method includes: manually and remotely control the robot to move firstly, reading and recording differential GPS data and encoder data in real time, and establishing original trajectory information and saving the original trajectory information as a standard file; correcting and optimizing an original trajectory to obtain a planned trajectory; and finally allowing the industrial control computer to read the differential GPS data, obtaining a pose of the current robot, comparing the pose and the pre-stored trajectory information to obtain a pose error, inputting the pose error into a feedback control law, obtaining a control output, and realizing trajectory tracking. The differential GPS based tracked autonomous navigation robot and navigation method has advantages of accurate positioning, accurate control and high stability.

Description

Technical field [0001] The invention relates to the technical field of mobile robots, in particular to a caterpillar autonomous navigation robot based on differential GPS and a navigation method thereof. Background technique [0002] With the development of sensor technology, manufacturing technology and artificial intelligence, robots have been widely used in many fields and occupy a pivotal position. In the early days, industrial robots that could only execute simple programs and repeat mechanical actions have evolved to intelligent robots that have strong intelligence performance with intelligent programs, and are working hard to develop conscious robots with complex consciousness like humans. The development of robots is transitioning to intelligence and service. [0003] Compared with legged robots, crawler robots have simple motion mechanisms and relatively low control difficulty. Compared with wheeled robots, crawler robots have better adaptability to complex terrain such a...

AI Technical Summary

Problems solved by technology

[0005] (1) The mechanical transmission structure and motor drive characteristics of the crawlers on both sides cannot be completely consistent, and the speed of the crawlers on both sides will deviate, thus deviating from the predetermined direction;

[0006] (2) Due to the electromagnetic interference problem of crawler robots, the selection of sensors is limited, and the current single positioning method cannot solve the problem of positioning and navigation of crawler robots;

[0007] (3) Due to the particularity of the crawler robot's working environment, the communication between the robot and the host computer is easily disturbed, resulting in unstable robot control

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