Font Size: a A A

Research On Several Key Technologies Of Home Mobile Service Robot

Posted on:2007-03-03Degree:DoctorType:Dissertation
Country:ChinaCandidate:Z B HaoFull Text:PDF
GTID:1118360212470111Subject:Computer application technology
Abstract/Summary:PDF Full Text Request
With the development of robot technologies, the applications of robot systems have been extented to families and the service field. The service robots have their own key technologies due to the unique applications. This dissertation presents a thorough and systematic research on some key technologies of home mobile service robot, and puts forward some new ideas and methods.The application of service robot determines that the robot must move along collision-free path in unknown and dynamic environment, so the obstacle avoidance path planning is the fundamental function for service robot. The Bug algorithm is improved in unknown environment and based on which a new LaserBug algoritm is presented which comprehensively considered the physical size of the robot and the data error of the sensors. The two hypothesises of the Bug algorithm are taken into account and are satisfied during the planning. The path is determined by searching for the rounding points and the rounding lines. Only the necessary sensing data of the laser range-finder instead of the analytical expression of the obstacles are used in the method. And only partial sensing data is calculated in common, which saves the cost of calculation and guarantees the real-time property of the algorithm. Experiments show the effectiveness of the approach.Region covering is one of the most popular tasks for service robot, in which the robot is demanded to reach every free point efficiently without repetition. Most of the home cleaning robots in the market sweep the floor in a random manner; as a result the robots sweep the floor ineffectively and can not gurantee sweeping the floor completely. The new Interal Spiral Coverage (ISC) method based on grid map is presented which is fit for simple robot. The robot covers the environment from the outer to the inner in the spiral manner, planning the following loop while covering the current loop. And the GATE grids are introduced to gurantee complete coverage and improve efficiency, which makes the covering in complicated environment possible. The robot gets to know the area of the environment after the first loop along the boundary. There is no complicated mathematical calculating in ISC, which can gurantee the real-time...
Keywords/Search Tags:home mobile service robot, path planning, region coverage, security surveillance, auto-recharging
PDF Full Text Request
Related items