Control system and method capable of realizing autonomous navigation and precise positioning of mobile robot

A mobile robot and precise positioning technology, applied in control/adjustment system, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems of low control frequency, low control accuracy, and poor real-time performance. To achieve the effect of improving real-time performance

Active Publication Date: 2019-09-20
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the ROS robot operating system has the problem of low real-time performance, which is not conducive to feedb

Method used

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  • Control system and method capable of realizing autonomous navigation and precise positioning of mobile robot
  • Control system and method capable of realizing autonomous navigation and precise positioning of mobile robot
  • Control system and method capable of realizing autonomous navigation and precise positioning of mobile robot

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Embodiment 1

[0033] This embodiment provides a control system capable of realizing autonomous navigation and precise positioning of a mobile robot, capable of performing real-time trajectory following control, and realizing autonomous navigation and precise positioning of a mobile robot.

[0034] Please refer to the attached figure 1 , the control system includes a sensor module, a main control module and an execution module arranged on the mobile robot.

[0035] Please refer to the attached figure 2 , the sensor module includes a laser radar, an inertial measurement unit, an encoder, an anti-collision sensor, an infrared backlash unit, a sensing camera and a precise positioning camera.

[0036] The number of the laser radar is 2, which are installed on the front side and the rear side of the mobile robot respectively, and are located on the same diagonal line, and are used to scan the environment area where the mobile robot is located, extract the environmental contour information, and ...

Embodiment 2

[0114] This embodiment provides a control method for realizing autonomous navigation and precise positioning of a mobile robot. The method is implemented based on the control system for realizing autonomous navigation and precise positioning of a mobile robot described in Embodiment 1. The method includes the following steps:

[0115] S101, the industrial computer I acquires sensor data, calculates the wheel odometer data, constructs static and dynamic maps of the environment, estimates the pose of the mobile robot, plans the trajectory of the mobile robot, and feeds back to the industrial computer II.

[0116] Specifically, the industrial computer I scans the environmental contour information of the mobile robot through two laser radars, collects the image data in front of the robot through the sensing camera, and receives the inertial measurement unit uploaded by the industrial computer II to measure the forward, lateral, and horizontal directions of the mobile robot. Velocit...

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Abstract

The invention discloses a control system and a control method capable of realizing autonomous navigation and precise positioning of a mobile robot. The control system comprises a sensor module, a main control module and an execution module, wherein the main control module receives data acquired by means of a sensor module, calculates wheel odometer data, constructs an environment static map and an environment dynamic map, estimates a pose of the mobile robot, plans a trajectory of the mobile robot, carries out trajectory following, and issues a trajectory following instruction to an execution module; after the robot reaches a target point, the main control module obtains landmark image data acquired by means of a precise positioning camera, calculates a position deviation between the center of the mobile robot and a landmark, corrects the pose of the mobile robot, and feeds back a precise positioning command to the execution module; and the execution module controls the mobile robot to move toward the position of the landmark, thereby finally realizing the millimeter-level positioning.

Description

technical field [0001] The disclosure relates to the technical field of mobile robot control, in particular to a control system and control method capable of realizing autonomous navigation and precise positioning of a mobile robot. Background technique [0002] At present, mobile robots that are only based on lidar, only based on vision (camera), or a combination of lidar and vision (camera) to achieve autonomous navigation have a positioning accuracy of centimeters after reaching the target point, but millimeter-level accuracy is required in some working conditions. Therefore, it is urgent to design a control system and control method that can realize autonomous navigation and precise positioning of mobile robots. [0003] The inventor found during the research and development process that most controllers combined with the ROS robot operating system use STM32 and other controllers with relatively simple structures to respond to the speed commands planned by the ROS robot ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0257G05D2201/0217
Inventor 张承瑞孙玉玺刘畅孙鹏程胡天亮赵永军王勇
Owner SHANDONG UNIV
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