The Design Of Navigation System Of Autonomous Mobile Robot Based On Microcontroller

The study purpose of this dissertation is to discuss the possibility and the implement of the navigation system based on the information fusion of multi-sensor and microcontroller as the controlling kernel and DGPS as the main tool of navigation. And the study purpose is brought forward based on the summarization and analysis of the development of autonomous mobile robots and their navigation technology in domestic and overseas.Mobile robot is an integration system that integrates the sense of environment, dynamic decision-making and layout, behavior controlling and implement. The autonomous mobile robot is provided with the abilities of self-organization, self-layout and adaptability, and so it is adapted to work in complex unstructured environment. The ultimate goal of the design of autonomous mobile robot is to fulfill the aimed movement and the corresponding tasks without the intervention of human beings or the prescription or change of the environment. In the corresponding technology of autonomous mobile robot, the navigation with the avoidance of obstacles or the routine layout is the emphasis of study and the key of the implement of intelligence and autonomy.At the present day, most of navigation systems of autonomous mobile robots are controlled by computer and the main navigation tools are optical sensors and so it is very complex and the cost is high. The experience is done that how to achieve a navigation system of autonomous mobile robot with an economic mode. The key of the study is how to fuse the information gotten from DGPS and other sensors and how to find out the mobile routes of the autonomous mobile robot. The main detecting tools to the local circumstance are ultrasonic and infrared sensors. And so the navigation algorithm based on Grid is designed and implemented.The dissertation consists of six chapters. In the first chapter, it is given that the development of the autonomous mobile robots and their navigation technology in domestic and overseas are summarized and analyzed. And the significance is pointed that the navigation system or routine layout is studied. Then the study purpose of the dissertation is brought forward and the main content is brought forth. The second chapter brings forward the design scheme of the navigation system based on DGPS and ultrasonic sensors according to the main purpose of the dissertation and present conditions. And the hardware platform of the system is described in details. The third chapter describes in details the routine layout algorithm based on the Grids.The forth chapter introduces the software scheme of the system. In the fifth chapter the emulation experiments results are analyzed. In the sixth chapter the summary of the whole work is given and the improvement is brought forward.