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Ultrasound-Based Simultaneous Localization and Mapping for Mobile Robot in Indoor Environment

Author: XuXiaoHan
Tutor: SunHanXu；JiaQingXuan
School: Beijing University of Posts and Telecommunications
Course: Mechanical Design and Theory
Keywords: Mobile robot Simultaneous Localization and Mapping Ultrasonic wave Indoor environment Kalman filter method
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 155
Quote: 2
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Abstract


Localization and Mapping of mobile robot autonomy is the basis of the mobile robot autonomous navigation, and therefore has two core elements in mobile robotics research. The working environment of the mobile robot can be divided into the outdoor environment and indoor environment are two paper focused on the indoor environment of mobile robot Simultaneous Localization and Mapping (SLAM) study. First, this paper analyzes the positioning of the mobile robot model, including the model of the mobile robot coordinate system, location, model, and dead reckoning method motion model based on the odometer, and dead reckoning method motion model error analysis. Secondly, we designed a set ranging system based on ultrasonic sensors, including hardware circuit design and software programming. Which part of hardware circuit design, the production of TI's DSP chip TMS320LF2407 core processor design the peripheral circuit and ultrasonic sensors acquisition circuit hardware anti-jamming design, hardware design at the same time taking into account, in order to further improve the system safe and reliable sex. And the software program design part, CCS programming environment, designed a set of sensors trigger, A / D sampling, the mean method filtering noise and numerical processing program. In this thesis, in the traditional rotation trigger designed on the basis of a set of multi-sensor packet in turn trigger the program, ranging cycle of the entire system can be greatly reduced, and this is one of the innovation of this paper. Also consider software anti-interference design, so that the whole system more stable and reliable. Ranging system based on the structural characteristics of the indoor environment and the characteristics of the ultrasonic ranging, the paper proposes an adjacent ultrasonic sensor-based map building. This method is based on the relationship of the adjacent sensor data, extracted from the database model of the relevant circumstances on the surrounding environment to be modeled. Finally, the papers using the Kalman filtering method to solve the mobile robot localization and mapping (SLAM) based covariance Kalman filtering method computationally intensive problem, this paper presents a program based on the linear system model . The observation equation systematic observation model linear process, thereby reducing the amount of computation, improve efficiency, which is one of the innovation of this paper.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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