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Study on Simultaneous Localization and Mapping for Auto-searching Track Cutting Robot

Author: DaiYongQiang
Tutor: ShangTao
School: Jilin University
Course: Mechanical and Electronic Engineering
Keywords: Since the tracing Simultaneous Localization Map created Path tracking
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 66
Quote: 0
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Abstract


The modern cutting robot is a typical representative of the intelligent tracing robot, and in recent years has been the development of a large degree of the industrial robot applications the cutting robot traditionally occupies a very important position. Welding and cutting are two of the most important processes in modern processing industry, often cutting and welding premise preparation. Self-seeking to trace cutting robot eliminates artificial crossed with independent tracing function, not only can improve labor productivity, but also to reduce the manufacturing cost of the product. Select mobile robot as a self-tracing cutting robot carrier and brief analysis and presentation of the current domestic and international mobile robot, and describes the research of mobile robot simultaneous localization and map created from tracing cutting robot The trajectory tracking control method. Using the LMS200 laser radar to scan the environment, and environmental characteristics of the original distance data point. The LMS200 laser radar belongs to the two-dimensional laser radar, can only be carried out at a height of plane scanning radar a scan cycle frames stronghold of value, then separated and line segment extraction of the set of points through the data points separated, can be fitted local positioning map feature line segment. In order to solve the two-dimensional laser radar can not scan the lack of three-dimensional environment, we designed a pitch scanning device, the laser radar installation in the pitch on the scan head, stepper motor driven lidar environmental pitch by pitch angle scan , and by the relationship between the various coordinate systems scan data transform, which can be obtained three-dimensional information of the environment point, and the creation of the raster map. Look for the track cutting robot using the front wheel is a universal wheel, after two driven by an independent motor structure. Target position and orientation of the polar coordinate system to establish a system kinematic model the point stabilization approach to the left and right wheel speed design point stabilization control law for control inputs to control the robot kinematics model pose error tends to zero. The Path Tracking referred path is a collection of series of discrete points in a certain order. The design of the control law allows the robot to complete the point-to-point tracking control, and then complete any path tracking, and simulation experiments to validate the design of the control law is effective.

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