Development And Research For Intelligent Mobile Robot

Technology of Intelligent Mobile Robot is an important branch in robotics. From the moon-vehicle in Apollo Plan to nowaday "Spirit" and "Opportunity", which are Mars vehicle made by NASA, and from battlefield patrol robot to pipeline testing robot and intelligent service robot, those all powerfully show that Intelligent Mobile Robot is progressing with human being together. Technology of IMR is very comprehensive, and as far as its control field is concerned, its key technologies mainly include path planning, navigation and orientation, path tracking and vehicle-control technology. And the key technologies can also be made up of decision-layer technology and performance-layer technology. Based on "GIANT" mobile robot, the main researching work of this dissertation includes robot kinematics, control system, sense net and its information-fusion and path planning.Based on kinematics principle of the two-wheel drive robot, this dissertation analyzes the motional characteristics of "GIANT" robot, and then builds its motional mathematic model. According to the opening development trend of the control system of today robot, the control system of the mobile robot has been researched and developed, whose control core is SBC, and the system includes motion control of servo motors and stepping motors. The sense net system, which built up mainly with SONAR sensors and photoelectric chromatic aberration sensors, can get the robot's surroundings information by fuzzy fusion technology. Therefore the robot has rather effective abilities of path tracking and obstacle avoidance. Based on the experiments and principle of mobile robot control, all path moving of robot are viewed as circle moving, and then the dynamic center algorithm is put forward. This algorithm focuses the key problem of path planning on the dynamic center and can direct robot to carry out safe motion in dynamic uncertain environment.The simulations and the practices of Robot Contest indicate that the control system of "GIANT" and the dynamic center algorithm acquire some achievements and are feasible.