| Nurse assistant robot is a kind of mobile service robot, and it is operating in hospitals and automatic navigation. It can deliver all kinds of things for the patients and spray disinfection in infection sickroom. It can be applied to promote ' hospital automation, protect medical care personnel from cross contamination, it has important application value and prospect. The research of this paper is supported by project of "Key Technologies of Nurse Assistant Robot", funded by the "Hei Longjiang Natural Science Fund". This paper is aimed to develop a automatic navigation nurse assistant robot test prototype and research the key technology.The paper overviews the research and developing situation of nurse assistant robot, at home and abroad, and summarizes the main technology of the mobile robot.Considering the performance and the technology demand of the nurse assistant robot, the robot's whole scheme is presented, including mechanical structure, sensor system and control system. Differential driving type is used, and nurse assistant robot steering system is flexible. Based on the hierarchy control structure theory, the control system is designed. The execution level is composed of DSP TMS320F2812 and ATmegal6, and the organizational level is PC104. The organizational level communicates with the execution level by CAN bus.The hardware and software of the ultrasonic sensor are designed. The TWIcommunication network is constructed, research on the communication protocolsand the interface set. The ranging experiment of the ultrasonic sensor is tested.The method of absolute positioning in indoor based on magnetic sensor isanalyzed.Fuzzy control arithmetic is. researched. The fuzzy control system of nurseassistant robot is developed; fuzzy control arithmetic is simulated by Mobotsimsoft. The method of the nurse assistant robot automatic navigation is researched. The kinematics model of the differential driving robot are theorized and based on the model, the robot navigation system is established in the known environment. The dead reckoning algorithm used to robot relative positioning is developed, and its application in nurse assistant robot is analyzed. The topological map of the experiment environment is constructed, and the motion algorithm based on the topological map is researched. In order to avoid obstacle, the method of ultrasonic obstacle measurement is researched. The grid map method based on the ultrasonic obstacle measurement is proposed, and the nurse assistant robot could avoid obstacle autonomously.For the actual problem of the nurse assistant robot path planning, a path planning method which is based on the genetic simulated annealing algorithm is developed for the robot. The characteristic and steps are introduced with the parameters of the algorithm being studied and set. The neural network model of environment information is established, and the robot static working environment based on the model is described. Then the simulation of the genetic algorithm and the genetic simulated annealing algorithm is carried out in MATLAB and the simulation results are analyzed.
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