How to use ultrasonic positioning for robot path planning data overview---Fujian ultrasonic positioning machine

How to use ultrasonic positioning for robot path planning data overview---Fujian ultrasonic positioning machine

　   With the development and wide application of robot technology, mobile robots have gradually entered people's family lives. The motion planning of mobile robots in indoor environments has become an important research direction. The indoor environment includes homes, nursing homes, museums, airports, warehouses, farms, etc. If a mobile robot wants to move indoors, it needs a positioning system to provide its own location information, environmental information and path planning. ---Fujian ultrasonic positioning machine

　　This subject integrates a number of technologies, and has made certain innovations in technical application methods for practical applications, improved path planning, and completed the research and development of indoor positioning systems and the modeling of indoor environment information. And through simulation and actual robot to complete the experimental verification. The specific work is divided into the following points:

　　The hardware part and communication protocol of the ultrasonic positioning system are designed and implemented, and the trilateral measurement method is selected to complete the pose calculation of the controlled object in the motion space. The controlled object here is a robot, but it can also be a human, an animal, and a moving object that needs to be located and obtained related information. ---Fujian ultrasonic positioning machine

　　Propose a method to build an unknown environment map. When the position of the robot is known, it walks on a closed curve along the edge of the working environment, has a comprehensive perception of the size of the environment, and establishes the outline of the environment, which is represented by the grid method. Finally, on the basis of the unknown environment rasterization, the depth-first algorithm is applied to traverse the entire feasible working space, and all the feasible paths are searched out, and all the obstacles are also known, and the indoor environment map is established.

　　The classic A-wood path search algorithm is improved to realize the robot's global optimal path planning from the start point to the end point. The path search algorithm takes into account the steering problem of the robot during walking, which saves the robot's walking time and reduces the difficulty of walking. ---Fujian ultrasonic positioning machine

　　Use the realized ultrasonic positioning system to collect test data, calculate the position of moving objects, and verify the reliability of the system. The simulation verified the correctness of the unknown environment modeling and the improved A-wood path planning algorithm proposed in this subject. Finally, the global path planning experiment was completed by the MT-R robot.

　　In recent years, with the vigorous development of robotics technology, people are no longer satisfied with the simple entertainment functions of robots. How to allow robots to enter the home environment and help humans reduce the burden of housework has become the current focus of robotics research. After many years of research by scientists, the application of robots in indoor environments has been greatly developed in various countries.

　  In order to complete the regular cleaning work in the home environment, hotels and some public places, the American iRobot company launched an indoor cleaning robot; in order to make the robot walk safely in the home environment to realize the child monitoring function, Japan launched the PaPeR02005 machine in 2005; in order to classify in the home Human robots can do simple cleaning tasks and housework. In 2008, Canada launched the perfect robot wife Aiko; in order to monitor the home environment without access, South Korea developed the irobi robot. ---Fujian ultrasonic positioning machine

　　For the application of robots in indoor environments, our country started late, but some results have been achieved. In order to care for high-level paraplegic patients, Tsinghua University developed a mobile nursing robot in 1995. This robot can perform positioning and path search functions. In addition, mobile robots are used in indoor environments, such as cleaning robots developed by Harbin Institute of Technology, and welcoming robots.

　　For the application of the robot in the home environment, it is necessary to know the location of the robot and the information of the indoor environment, and then complete the path planning on this basis. It can be seen from the above that the determination of these position information is mostly calculated by using the robot body, which requires the robot itself to be equipped with cumbersome measuring instruments, which requires a large amount of calculation, difficulty in obtaining, and low positioning accuracy. And for the same indoor environment, each robot must have its own positioning system, which will inevitably increase the cost of the robot and limit the wide application of the robot in the indoor environment. ---Fujian ultrasonic positioning machine

　　This topic starts from the aspect of saving cost and expanding the feasibility of robot application in indoor environment, and proposes an overall scheme that integrates robot location information acquisition, indoor environment map establishment and path planning to realize the application of robot in indoor environment.

　　In this project, inexpensive ultrasonic sensors are used to construct an indoor ultrasonic network positioning system to obtain robot location information; on the basis of determining the robot location, a grid-based DFS (depth first search) indoor environment map is proposed to provide the robot with more detailed indoor Environmental information: After the robot obtains its own position information and environmental information, the improved A-wood algorithm is used to realize the robot's indoor path planning. ---Fujian ultrasonic positioning machine

　　With the advent of the aging of our country, it is of practical significance to study the application of robot indoor environment. The application system of the robot for the indoor environment constructed in this subject is simple and easy to implement, low cost, and good independence. This topic is applicable regardless of whether the robot has an automatic positioning system or not, which promotes the feasibility of mobile robots in indoor environments.