Design Of Wireless Monitoring And Control System And Research On Obstacle Avoidance Path Planning For Mobile Robot

With the continuous development of the robot control technologies, the introduction of wireless transmission technology, making the movement of autonomous operation process can be monitored wirelessly. Therefore, robot wireless control technology becomes one of the most important robot control technologies. Meanwhile, in order to improve the efficiency and reduce the losses due to collisions, the path planning and obstacles avoidance for the mobile robot are need. In this paper, the main contents are the design of the service robot wireless monitoring system and the path plan of obstacle avoidance.Firstly, we e designed a wireless information transmission and the control system for robot. Modularization the hardware system based on the analysis of system function. The hardware system includes the control module based on SPCE061A, USB communication part, power management part, driving part, environment information acquisition and perception part, speech broadcast part. After the integration of sub-module design, we mapped out the overall external control circuit, carried out PCB board production and processing.Secondly, combining the robot path planning and obstacles avoidance requirements in the process of robot motion, we established a mathematical model of the robot and proposed an ultrasonic distance measurement method to obtain information about obstacles around the robot body. After the analysis of the traditional artificial potential field which has its deficiencies in robot path planning and obstacle avoidance requirements, the consideration of under the constraint of the robot body, for the problem of large obstacles path planning, we proposed a method which can use the boundary and obstacle repulsion to improve the repulsion formula. For the robot's goals are not reached equilibrium problem when it is by the force balance, the virtual sub-goals guided method was adapted to improved the algorithm. For the robot deadlock in U-type environment, the way of combining toward the target behavior with FOALLOW-WALL behavior was used to solve the problem. Following the traditional idea of artificial potential field, considering the relative speed and acceleration factors between the objects, an improved artificial potential field method which applied to the path planning and obstacle avoidance in dynamic environment was proposed. We conducted some related simulation experiments, which results verified the effectiveness of the algorithm.Thirdly, as an extension of path planning, a fuzzy control path tracking was designed from kinematics model, the principles of steering control when path tracking was analyzed from subjects, the relationship between steering angle and analog control line voltage of the controller was achieved, which do help to the realization of autonomous intelligent operation for the robot.Finally, in this paper, we designed the control interface of the wireless monitoring system and designed the hardware-related software, achieved the robot's wireless control and wireless image transmission. Then we carried out ranging experiments of the robot ranging system and the path planning and obstacle avoidance experiments on monitoring platform.