Mowing Robots Overall Design And Key Technologies

This thesis, based on the whole-region coverage intelligent robomower, mainlyaddresses the area-coverage path planning technique of the robomower, in themeanwhile, contains the navigation and obstacle-avoidance based on the fuzzy-logiccontrol, also the design of software and hardware the controller.The robomower' work environment are generally very complicated,and the exactpath planning based on known environment model is generally difficult to realize,furthermore, it in great depth depend on accurate localization system, thus increasingthe cost of the robomower. This thesis, from the view of practicability andgeneralization, introduce a new maneuver that is qualitatively topological coverage. Inthis article, detailed online slice decomposition of the environment and sub-regioncoverage methods are discussed, at the same time, the relevant algorithms areadvanced. The obvious trait of this maneuver is its lower cost and its less dependenceon the hardware.In order to assure that the robot can fill each sub-region to the most coverage rate,excellent path tracking and navigation maneuver have to be fulfilled. Because of theno-need for the exact math model and preferable robustness which fuzzy-logic controlhas, we adopt the maneuver based on the fuzzy-logic to navigate and avoid obstacle.In the other way, this thesis also addresses the design of the robot' hardware andsoftware, including the design of the sonar range module, the design of remotecontroller, moreover, simply discuss the measurement of EMI suppression.In the meanwhile, we design and make the robot controller, by way of experiment,we achieve well result.