The Study Of Mobile Robot's Path Planning And The Study Of Robot's Vision System

Current research and development of Intelligent Robot have attracted the attention of a lot of researchers. This is due to the great application potential of Intelligent Robot. Possible applications include automatic freeway driving, tourist guiding, exploration of unknown regions, service and maintenance in nuclear power station, product transfer in automation factory and etc. The development of it will immensely influence human production and life.As a complicated intelligent control system, the Intelligent Robot has close relation to many technologies such as artificial intelligence, automatic control, sensor technology and image recognition. There are two emphases in this article. The first one is the design and realizing of Mobile Robot's driving system and the research on its path planning problem. Another is the basal research on the vision system of Intelligent Robot.The thesis first gives a brief review to the generation and development of Robotics. The systematic structure and the research method of Autonomous Mobile Robot are also included in the first chapter. Then, chapter 2 introduces the design and realizing of Guiding Robot's driving system. In chapter 3, a vector field module is introduced to solve the path planning problem for a mobile robot. Then, Multi-objective Genetic Algorithm (MOGA) was used to search for the optimal parameters of the module and step width of motion. In chapter 4, first, we construct one set of Two Eyes Vision System for the PUMA 560 Robot Control System, and then through the work of Edge Extraction, we get the three-dimensions coordinates of the workpiece.