Design And Global Path Planning For The Mobile Robot

One of the most important features of the mobile robot is to fulfill some tasks for people through sensing, receiving and processing the information from the environment by itself. That is to say it is intelligent or autonomous to a certain extent. Path planning is the base of the intelligence of mobile robot and it has become one of the hot topics of intelligent robot for recent years. The designing and global path planning of mobile robot is the subject of this paper. The purpose of this work is to build up an experiment platform for the National 973 Program of China—BNI(Bio-Nano-Informatics) intelligent sensor and system and make a primary foundation for path planning method research. The studies we have performed are as follows.First according to the experiment of BNI intelligent sensor and system a essential scheme for mobile robot was presented. It was constituted by differential four-wheel-driven, board and frame structure. The motors, photoelectric encoders and some accessories were selected.Second, based on the development of the BNI intelligent sensor and system research and requirement in detail we designed and developed the control system of the hardware of the mobile robot. This hardware system is made up of the component of require, circuit scheme and PCB scheme, etc. The control system software with upper and lower computer mode was designed and presented. By this software the mobile robot can realize communication between upper computer and lower computer, path coding and location display of the upper computer and interrupt service program and read and write chip LM629 of the lower computer. With the control system the mobile robot has the capability of path tracking and destination position perceiving.Then, based on the path planning and genetic algorithm a static global path planning program for off-line application was given. By this means some defects of the conventional methods can be made up and the autonomous path planning can be achieved easily.At last, the control system was debugged and simulation. Several simulation examples were carried out and several values of genetic operator for the static global path planning were determined.