移动机器人自主返航控制系统设计与实验

Design and Experiment of Autonomous Returning System for Mobile Robots

摘要:

针对遥控移动机器人在通信信号中断后,无法对其进行控制的问题,设计了移动机器人自主返航控制系统,实现信号中断后移动机器人按原路径自主返航直至恢复控制信号或返回初始位置；提出了基于控制意图融合里程计和光纤陀螺仪的定位算法,对移动机器人运动学模型的结构参数进行了校正,大幅度提高了移动机器人定位精度；基于嵌入式Linux平台设计了返航控制软件系统,在信号正常的情况下,启动遥控模式,遥控机器人移动并记录路径坐标点,信号中断则开启返航模式,采用线性控制率和PID控制率实现对移动机器人路径跟踪控制；基于实际应用环境开展自主返航实验验证,实验结果表明该控制系统能够在通信信号中断后以较高的精度控制移动机器人实现自主返航；该系统能够解决移动机器人在应用中的实际问题,且代码可移植性高、通用性强。

Abstract:

This paper introduces a control system of autonomous return mode for the mobile robot out of control when the control signal is interrupted. The system can enable the mobile robot to autonomous return follow the original path until the signal is re-connected or returned to the starting position after the interruption of the control signal. A fusion location algorithm based on control intention using odometer and fiber optic gyroscope is proposed. The structural parameters of the positioning algorithm are corrected, and more precise positioning is achieved. The return control system based on the embedded Linux platform is carried out. Remote control mode is activated when the control signal is normal. While mobile robot is moving and records the coordinate points. When the control signal is lost the autonomous return mode will be started, the mobile robot path-following control is achieved by linear control rate and PID control rate. Based on the actual application environment the autonomous return experimental verifications are launched, and the results show that the system is able to control the mobile robot to autonomous return with higher precision after interruption of control signal. This system can solve the practical problems in the application of the mobile robot, and the code is highly portable and general.