Ultrasonic navigation to control the movement of a mobile robot

Abstract

This article considers a control system for mobile robots based on an ultrasonic navigation system. The relevance of the problem is explained, modern methods of location of objects are given. We consider hardware and software that allow us to solve the problem of moving a mobile robot from its current position to a given one, and also highlight their advantages in relation to this task. Nema 17 stepper motors were used as the hardware in the experiments, the BNO080 intelligent sensor, which combines the accelerometer, gyroscope and magnetometer, was used as a relative rotation sensor of the mobile platform. The Probabilistic Roadmaps Method was used to find the optimal path. To identify the beginning of the ultrasonic signal, the extreme filtering method, which proved its effectiveness in the field of seismic signal analysis, was implemented. The article also presents a mobile robot control algorithm that allows to move to the goal coordinates using data from the ultrasonic navigation system, while at the same time correcting the angle error of the mobile platform accumulating in the BNO080 sensor. The control algorithm, the optimal trajectory search algorithm, as well as the signal analysis were processed in the Matlab software package. All the statements and methods were tested on the physical model of a mobile robot, the results of these experiments confirmed the feasibility of using these hardware and software.