Caption: Lianhui Zhizao focuses on the research and development of mobile robots applying artificial intelligence technology, and has mastered core algorithms and robot application technologies. The mobile robot developed by Lianhui - MOVER, an actor, is at the forefront of technology with leading algorithm technology. , to solve the needs of industrial intelligent and flexible production. Regarding the development process of mobile robots, Lianhui Zhizao made a summary of the following aspects based on years of research results and experience, and shared them with friends who are doing or will do mobile robot development.
An introduction to mobile robots
Different from AGV (AutomaticGuided Vehicle, automatic guided vehicle, refers to the automatic transport vehicle equipped with automatic guidance equipment such as electromagnetic or optical, which can walk according to the specified path) and other automated transport vehicles, mobile robots are integrated environment perception (slam), dynamic decision-making A multifunctional integrated system integrated with planning (navigation). It is an artificial intelligence discipline (AI) that integrates sensor technology, information processing, electronic engineering, computer engineering, and automation technology. It is one of the most active fields of scientific and technological development.
2. History and Development
In the 1960s, the Stanford University Research Institute developed the autonomous mobile robot Shakey, which can perform functions such as object recognition, autonomous reasoning, path planning and control in complex environments. In the 1970s, with the development and application of computer technology and sensor technology, the research on mobile human robots reached a new climax. After entering the 1990s, with the rapid development of technology, mobile robots have entered into practical, serialized and intelligent.
Compared with the major robot countries in the world, although the research on mobile robots in my country started relatively late, the development is very rapid. At the end of the 1980s, as the demographic dividend receded and labor costs increased, mobile robots began to enter structured factories. In recent years, with the rapid development of the field of intelligence, mobile robots that are only suitable for a single environment can no longer meet the needs of human beings for production and life. Intelligent mobile robots have entered daily life with their flexible and flexible navigation and path planning methods. At the same time, many domestic universities have also set up artificial intelligence disciplines, and the research on intelligent mobile robots has developed rapidly.
3. Composition and characteristics
Mobile robots have human-like perception capabilities that can recognize, reason, and judge. The program can be modified within a certain range according to changes in external conditions. It consists of the following main parts:
1. Central controller: Similar to the human brain, it has computing decision-making ability, and can perform path planning and dynamic obstacle avoidance. The current mainstream path planning algorithms include A* and Dijkstra. By calculating the grid pixels of the map, dynamic Find the shortest path.
2. Sensors: Similar to human facial features, including lidar, sonar, infrared, touch, etc. In recent years, SLAM (Simultaneous Localization And Mapping) technology has developed rapidly from theoretical research to practical application. This method of constructing an environment model while determining its own position can be used to solve the problem of robot positioning and navigation. Among them, laser SLAM technology uses lidar as a sensor to obtain map data, so that the robot can achieve synchronous positioning and map construction. This is the most stable, reliable and high-performance SLAM navigation method at present.
3. Drive chassis: similar to human limbs. Through two-wheel differential or multi-wheel omnidirectional, in response to the speed message sent by the central master controller, the moving speed and running direction are adjusted in real time, and the steering is flexible to accurately reach the target point.
4. Robot Operating System
With the rapid development and complexity of the robotics field, the need for code reusability and modularity has become stronger, and the existing open source robotic systems cannot meet the needs well. In 2010, Willow Garage released the open source robot operating system ROS (robot operating system).
The ROS system originated from a collaboration between the Stanford University Artificial Intelligence Laboratory project in 2007 and the robotics company Willow Garage's Personal Robots Program, and has been promoted by Willow Garage since 2008.
ROS is open source and a post-operating system, or secondary operating system, for robotics. It provides functions similar to those provided by operating systems, including hardware abstraction description, low-level driver management, execution of common functions, message passing between programs, and program release package management. It also provides some tools and libraries for obtaining, building, Write and run multi-machine integration programs.
main feature:
1.点对点设计，一个使用ROS的系统，程序可以存在于多个不同的主机并且在运行过程中通过端对端的拓扑结构进行联系。
2.多语言支持，ROS现在支持许多种不同的语言，例如C++、Python、Octave和LISP，也包含其他语言的多种接口实现。
3.精简于集成，ROS建立的系统具有模块化的特点，各模块中的代码可以单独编译，而且编译使用的CMake工具使它很容易的就实现精简的理念。
4.工具包丰富， 为了管理复杂的ROS软件框架，我们利用了大量的小工具去编译和运行多种多样的ROS组建，从而设计成了内核，而不是构建一个庞大的开发和运行环境。
5.免费开源， ROS以分布式的关系遵循这BSD许可，也就是说允许各种商业和非商业的工程进行开发。
联汇智造的移动机器人-行动者MOVER即是基于ROS操作系统开发，利用其“高内聚低耦合”的特点，结合自有的移动机器人算法技术，形成了一套完整的具有人工智能核心算法的产品解决方案。
以上就是我们对移动机器人的发展历程及应用技术的趋势介绍，希望对您有所帮助和启发，有开发的问题或合作需求，欢迎给我们留言。