Abstract:

The application of indoor mobile robots has greatly improved people's working efficiency and lifestyle,but there is still no absolute solution for robots' indoor motion trajectory deviations.In order to enable mobile robots move precisely on preset trajectory for indoor mapping,based on the realization of SLAM(simultaneous localization and mapping) algorithm,this paper proposes significantly improve the trajectory precision with a novel PID feedback control model,which utilizes robots' attitude,position and trajectory deviation information to formulate a closed-loop control algorithm.Aiming at several typical trajectories of robot indoor motion,we carry out a large number of trajectory deviation tests,further optimize the robots' motion control parameters of the algorithm,and effectively reduce the indoor mobile robots' trajectory deviations.Compared to the indoor robot motion control system which only relies on the odometer,the modified algorithm makes full use of the location information of the laser radar,not only meet the demands of indoor mapping,but also obtain an accurate robots indoor-motion control scheme which has high reliability and stability.

Key words: mobile robots, SLAM, trajectory correction, PID control