1. 研究目的与意义（文献综述包含参考文献）

Thanks to highly sophisticated control techniques, modern mobile robots are capable of accomplishing advanced tasks. Briefly, mobile robots can be dived into two main branches: research devices and consumer devices. The firs class usually consists of prototypes used for testing and verification of various control algorithms. The latter is represented by efficient, dependable and fulfilling industrial safety requirements robotic vehicles, often distributed as closed systems [1-2]. During the design and test phase, the imperfections of a completely custom design may not allow to perform advanced tests, thus lengthening the construction phase. In order to eliminate this problem, the authors have designed the robot so that its crucial parts were previously known, tested and proved to be reliable. The control system consists of distributed pieces of software and hardware, each of which accomplishes precisely defined tasks. A fast serial communication bus is used to exchange information, what makes possible the use of module elements of control system. The modularity of the control system in range of hardware and software allows easy modification of components of the control system (the exchange), the diagnostics of drives as well as the introduction of an alternative controller or a measuring sensor in case of breakdown. Moreover, the presence of a communication bus makes it possible to integrate the control system with measuring devices and drives. The utilization of independent arrangements of control drives makes it possible to use synchronous drives with position or speed control, independently from the main driver, which enlarges control precision [3]. The robot served as a testbench for various control algorithms thanks to which it was possible to determine the effectiveness of the design.With the rapid development of computer technology and intelligent technology, mobile robots have been applied to a variety of fields to help humans complete all kinds of work. It is an important guarantee for autonomous mobile robot to realize dynamic perception and real-time positioning of external environment and navigation based on it, which has important research significance. In this paper, the four Mecanum wheeled omnidirectional mobile robot is taken as the research object, and the positioning and navigation system based on ROS is analyzed and designed. Under the ROS development platform, according to the idea of hierarchy and modularization, the overall design framework of omnidirectional mobile robot positioning and navigation system based on hybrid hardware architecture was established, and then all the mathematical models involved in the system were established. Design the hardware and software systems of the robot Platform. Finish the system construction and program debugging of omnidirectional mobile robot platform. The omnidirectional mobile function, location and map building ability in corridor and indoor environment.

2. 研究的基本内容、问题解决措施及方案

1. Research task of this project In this project, the four Mecanum wheeled omnidirectional mobile robot is taken as the research object, and the positioning and navigation system based on ROS is analyzed and designed. Detailed contents as below: Design and create framework of omnidirectional mobile robot positioning and navigation system Finish the system construction and program debugging of omnidirectional mobile robot platform. Verify the omnidirectional mobile function, location and map building ability in corridor and indoor environment.2. Research methods of this projectDuring this graduation project, we`ll use methods of theoretical and experimental modeling. Mainly by studying a large amount of literature, Under the ROS development platform, according to the idea of hierarchy and modularization, the overall design framework of omnidirectional mobile robot positioning and navigation system based on hybrid hardware architecture was established and then all the mathematical models involve. In the middle of the semester, Design the hardware and software systems of the robot Platform. Finish the system construction and program debugging of omnidirectional mobile robot platform. The omnidirectional mobile function, location and map building ability in corridor and indoor environment.