Reinforcement Learning And Vision Navigation Based Mobile Robot Controlment

In recent years, the application of robot is more and more extensive, but the actual environment is dynamic, and full of uncertainty. If the application of robot wants to reach the all respects of social, the robot has higher intelligence. Under the support of "Research on Robot behavior control based vision perception" from Shenyang Institute of Automation (SIA) of the Chinese Academy of Science (CAS), this paper carries on deep research for the control strategy and vision navigation technology of the mobile robot. The main work and innovation include:The current situation of both the domestic and foreign robot control technology is analyzed in detail. The control strategy of mobile robot based on reinforcement learning is proposed. BP neural network is combined to Q learning algorithm. The value of reinforcement function is conformed by artificial potential field. The obstacle avoidance is realized though the above-mentioned method, and the mobile robot is controlled to reach goal finally.The remote control of mobile robot is designed. Through remote control to the robot, the movement situation of mobile robot in the environment can be surveilled and controlled in real time, and the collide situation can be avoided.The research actuality of mobile robot vision navigation technology is analyzed in detail. A waving and pitching vision device is applied to obtain information in wider vision. It and sensor message merge to instruct the movement of robot. The image processing is carried on through the image gather card, and the match of the image is realized finally. Various algorithms of image processing are realized with Visual C ++ mainly.A new method of vision location is putted forward, and can measure the relative distance between the mobile robot and goal. In the view of mobile robot, it enables the mobile robot to make the corresponding reflection for behavior according to the mensurating distances.The camera movement is analyzed and planned in detail. The camera is controlled with the single chip microcomputer through serial communication.The hardware structure of RIRAII mobile robot is discussed and analyzed. The hardware structure includes: wireless communication module, driving module, ranging module, vision module, etc. The control core of each module is the single chip microcomputer and PC.The simulation and experiment are carried on finally, and result of it is analyzed. The result indicates: this method can realize the mobile robot searching and tracking for the goal object.