Research On Ultrasonic-based Intelligent Cleaning Robot Navigation System

ABSTRACT Research and design of home-used mobile robot has become a hot field last years. They have not been limited in military field. Many technologies, which had been used in the military field successfully, have been used in the field of home-used robot, for example technology of collection environment information by sensor and technology of autonomous navigation and location. Autonomous navigation and location is key technology to implement intelligence of mobile robot in the field of mobile robot. It includes three technologies-collection environment information, environment information modeling and algorithm of path planning to implement autonomous navigation and location. Environment information modeling is key technology. So research of mobile robot autonomous navigation includes three aspects. Firstly, we collect the environment information. Then, we use the method of environment information modeling to depict the environment information. Finally we design the algorithm of path planning to implement autonomous navigation and location function. But we have not a perfect theory to resolve it now. Environment information modeling is one of key technologies in the field of mobile robot. Depiction of environment information is foundation to implement autonomous navigation and location function. Definition of collection environment information is depended on reliability of implementation autonomous navigation and location. If we abuse to demand it, it will impact ability of real time, reliability and robust ability. We have two method of environment information modeling-method of grid and method of potential field now. They have been used in field of mobile robot successfully. The paper is organized in seven parts: In the first part, the background of this paper is present first. Then, the relationship of three technologies to implement autonomous navigation and location is depicted in detail. In the second part, specific of ultrasonic sensor and two range technologies are depicted in detail first. Then, the fundamental of ultrasonic sensor ranging is depicted in detail. In the third part, method of grid and method of potential field is depicted in detail. In the fourth part, algorithm based on method of grid area dismember is depicted in detail. In the fifth part, algorithm of along wall is depicted. In the sixth part, how to design intelligent cleaning robot is depicted. Then, by the example of intelligent cleaning robot, algorithm of along wall is depicted in detail. In the seventh part, the outlook of intelligent cleaning robot is depicted.