| Research on the technologies of indoor mobile robot navigation is a comprehensive and complicatedprocess and needs deeper and deeper exploration.It has become a hot field to research and design the indoorautonomous mobile robot in the past few years. Autonomous navigation is very important for mobile robotsand is the kernel technique for robotic intelligence. These technologies mainly include environmentinformation collection, environment information understanding, environment information modeling andthereby the path planning for autonomous navigation of which the second and third items are the key items.Therefore, the research on the navigation system of mobile robots is organized in these steps: choose thecorresponding sensors for the special environment, choose the proper environment model according to theinformation features of sensors, and lastly build a path planning algorithm for the selected environmentmodel.Firstly, it was gived that a brief introduction of the research background, characteristics, prospect forindoor mobile robots, as well as robotic navigation in the paper.Then, We elaborate the principle ofultrasonic distance detection,ultrasonic modeling and how to collect and understand environmentinformation based on which a model is built. We Also design the area-covering algorithm .Based on makingan analysis of the dynamic properties of mobile robots, We discusse how to develop the mobile robotexperiment platform, using the Cygnal F020 as the controller, the ultrasonic sensor, the collision sensor, andStepping Motors as well as its drive chip. Consequently, the basic principles of fuzzy control and fuzzyneural networks based on which MATLAB simulation on robotic navigation,avoiding obstacle and pathtracking is made. At last, the conclusion is reached. |
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