| The research on Autonomous Mobile Robot (AMR) is one of the emphases of mobile robot, and it is attractive to many specialists and scholars. The attraction of AMR should owe to its tremendous potential market. In recent years, many domestic research organizations and institutions have begun to develop the hardware of AMR. With the imbursement of science fund from ShanDong province, we have developed the New Intelligent Guide Robot (HiFully- I ). This paper focuses on the hardware system design and the fuzzy control implementation of our guide robot.First, we discussed the situation of the research on mobile robot and the applications of mobile robot in different fields. We introduced the developing decades of robot technology and domestic research situation on robot technology, analyzed the characteristic of fuzzy control and established the fuzzy control method for robot navigation.In chapter 1 we analyzed the kinematical characteristic of mobile robot. Depending on the kinematical model, we discussed the relationship between the line velocity and the angular velocity of mobile robot and indicated the linear relationship between swerve radius and wheel's line velocity square difference. We calculated the kinematical equations of reclaim and planted the kinematical chart. Because the control system of mobile robot is a complicated non-linear system, it is difficult to implement with traditional method. The necessity of fuzzy control had been improved with theory analysis.We discussed the hardware design of mobile robot in chapter 2. Guide robot normally worked in fixed environment, so we chose the landmark to navigate our robot. We developed optical sensor to detect the landmark and deal with the sensor information with median filter. Developed ultrasonic distance measure system based on Time-of-Flight theory. To enhance the measure precision, 1-Wire digital temperature sensor was used to compensate the measure result. Then discussed the whole system design, and presented the open interface of mobile robot based on Client/Server idea. After that, introduced the development and debug of system software. At last discussed the methods for counter disturb in order to enhance the reliability of our robot system.In chapter 3, discussed the fuzzy control method on robot navigation. First introduced the fuzzy control theory and presented the "angular velocity-linear velocity" functional model. Thus transformed the two output system to one output system and simplified the structure of control system. Regarded the code of multi-sensor as the error input, we can get the error and the error change. After fuzzy input, artificial experience was involved in the fuzzy relationship through Mamdani reasoning. At last we got the control table by calculations with Matlab. Single chip unit implemented the fuzzy control and our experiments improved to be effective.At last part, summarized this paper and indicated the research directions for the future.
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