Research On Path Planning And Wheeling Control Of A Wheel-leg Combined Cleaning Robot

Nowadays, with the fast development of the robot technology and AI system, the service robots are widely used in our daily life. The increasing of the market demand and the vast potential for future development both let the technology of the service robots develop quickly. According to the practical situation, people has made kinds of special robots using in any situation, especially the robot cleaner. So we propose a solution about a household robot cleaner.First,with the robot cleaner using in nowadays, we find the advantage of traditional quadruped robot, and propose a wheel-leg combined robot combine the advantage of quadruped robot and wheeled robot. Compare with the traditional cleaning robots, our robots is flexible in cleaning work.It’s more effectively and efficiently. Our robot has a wheel action mode, a feet action mode and a cleaning structure. The robot can change the action mode according to different cases.Secondly,we use the STM32 control panel to control the behavior of the robot.Combine the advantage of the plough path and the spiral path to implement the optimal path planning.Finally,we design a cellphone client interface, using wireless route technology and Linux system to implement the wireless communication with the cleaning robot. This client program can help people control the action mode and realize the mode switch between the two action mode. This program has a remote control function and it can help users control the robot in remote places.