The Research On Mapping Plan System And Correlative Technology For Intelligent Robot

Ocean will be the significant field for human being to explore in the 21st century. As a high technical means to explore ocean, the technique of Autonomous Underwater Vehicle (AUV) is becoming increasingly important. In this paper, with the background of AUV mapping minefield mission, intelligent control technology is presented, intelligent robot mapping plan system and other correlative technologies are mainly researched, including intelligent system architecture, multisensor data fusion and paths searched plan.Firstly, in this paper a mission integration oriented architecture for mapping system is presented. The specialty of the system design and functions of each module are described. The principle and process of mission plan are expatiated. A FSM model for all control states in mapping system is designed.Secondly, the issue of sensor data fusion in this system is discussed. The purpose, meaning and classified methods of data fusion are introduced. A model of multisensor data fusion is designed for the mapping system. In order to estimate the position of object more exactly, the data fusion technology of single sensor is discussed. Then one kind of data fusion method is put forward, which is validated with the testing data.Thirdly, the technology of paths searched plan is discussed. Using heuristic search theory for reference, this paper presented the concept of heuristic paths searched plan technology for the mapping system. Then a heuristic search algorithm is studied, and a simulation program is completed.Finally, this paper introduces the embedded development tools: VxWorks and development environment Tornado, and introducessoftware realization technology.