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Research and Simulation of the FastSLAM2.0 Algorithm and PGR Navigation Algorithm

Author: ZhaoLiNa
Tutor: TangMingXin
School: Dalian Jiaotong University
Course: Control Theory and Control Engineering
Keywords: Robot FastSLAM Navigation Scilab
CLC: TP242
Type: Master's thesis
Year: 2008
Downloads: 59
Quote: 1
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Abstract


By the introduction of the basic theory of the modern the robot status quo at home and abroad and robotics related, we understand that now a hot research topic in robot positioning. Localization and mapping problems are just one of the important issues in mobile robot applications. In order to solve this problem, we selected FastSLAM FastSLAM SLAM decomposition robot localization and characteristic sign of position estimation process. A possible path of movement of the robot of representatives of each particle in the particle filter, using the observation information to calculate the weight of each particle, in order to evaluate the quality of each path, which can improve the estimation accuracy and reliability. Another important issue in the process of robot motion, navigation controls (path planning). The path tracking control problem, can not be applied in the Cartesian coordinate system feedback linearization or smooth asymptotic stabilization system given regular feedback controller design method. This paper presents an attempt to stabilization of nonlinear predictive control mobile robot control the amount of constraint and kinematic constraints, a new navigation algorithm - PGR algorithm, and the details of the mathematical derivation of the algorithm. In the study on the basis of the above theory, in view of the Matlab expensive and restricted use is limited in the domestic service and technical support, and the simulation environment is not very complicated, so selected a phase and Matlab free software unbeatable completely free scilab simulation. Simulation process, the preparation of the internal sensor and external sensor data acquisition file, used to simulate the robot sensor in the process of moving information fed back. As well as the positioning and navigation algorithms were used the scilab language written into the program files. Finally, the design of the whole movement of the robot control flow chart of the process, and then a large number of simulation according to the flow chart and has established good data on the movement of the mobile robot environment. Through the completion of the design, the realization of the reality of the mobile robot easily, so that based on the possibility of achieving this control, with people driving cars vehicle motion control can be achieved using the method, target locations on the front case action is also possible.

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