Design Of Mobile Robot Path Planning System Based On Infrared Distance Sensor

As an important area of robotics research mobile robot is widely concerned by more and more people. Itself should have the ability to plan organize and adapt. It can be a very good performance in complex and unstructured environment. Therefore, the mobile robot path planning has become the key technology to solve this problem. This paper research the wheeled mobile robot and use infrared distance sensor to design the mobile robot path planning system. The main work of this paper as follows:Firstly, the paper reviews and introduces the concept of the path planning classification, characteristics, present situation and development trend. After analyzing the overall design process of the mobile robot path planning, the paper defines the main task of this project.Secondly, we design respectively the mobile robot motion control system, the ranging sensor system, and the host computer system of path planning. Here we use ART USB1020motion control card, Leadshine ACS606motor driver and BLM57050servo motor to make the motion control system. They can receive instructions from the host computer, and control the robot motion. We use Sharp GP2Y0A02YKOF infrared distance sensor, PCF8591A/D conversion chip and SCM to put the ranging information of the analog signal convert to the digital signal and transfer it to the host computer. They enable the host computer to receive the robot surroundings, judgment and issued a directive. We put forward two path planning algorithm of artificial potential field method and the fuzzy control method in the host computer system and simulate in the MATLAB application software. Then we analyze the results and sum up their respective strengths and weaknesses, and also put forward the improvement program. Then we apply them to the host computer system of the mobile robot.Finally, summarized the main work in my study and proposed some insights into the future development of our research.