Design of Intelligent Mobile Robot Positioning Algorithm Based on IMU/Odometer/Lidar

摘要

The basic conditions for intelligent mobile robots to achieve the corresponding functions are positioning, composition and navigation. However, when the robot is in a completely unknown environment and cannot obtain its own position using GPS, it can only use its own laser radar, IMU and odometer to complete the positioning and map construction. IMU has low cost, low power consumption and light weight, but its accuracy is not high and its error is large. Odometer works stably, but it can't locate independently. Lidar has high precision, but it is easy to be disturbed by environment, resulting in position loss of the robot. This paper combines the fusion algorithm of IMU inertial sensor, odometer and lidar. Based on Kalman filtering algorithm, the odometer-assisted IMU system and lidar feature extraction matching system are combined to obtain the real-time position of the robot. The simulation results show that the algorithm can correct the error of IMU inertial navigation system in real time, improve the stability of lidar and improve the positioning accuracy of the navigation system.