Research On Path Planning Technology For Indoor Autonomous Robot

With the development of the science and technology, the emergence of indoor autonomous robot brings more convenience to people's daily lives. The path planning technology is one of the important techniques for autonomous robot system, in which the regional coverage path planning algorithm is the core. Therefore, how to choose the rational and efficient regional coverage path planning algorithm based on the different indoor environment is the emphasis of this paper. The thesis has two topics, the first part is the analysis of the algorithm and the second part is the application of algorithm in the hardware system.An analysis of various methods for path planning technology is made firstly. And then it is focus on the two regional coverage path planning algorithms based on map. The main content of the research includes the expression of the environmental map, the way of going, and the detail process design of algorithm. The simulation on C# and VS.NET proved that both the two algorithms have high coverage rate, and the satisfied result is obtained.According to the requirements of the subject, a simple autonomous robot system based on infineon controllers was designed and implemented, which includes the design of hardware system and software control system. The hardware system includes master chip module, motor drive module, sensor module and other modules. The software control system mainly includes A/D module, PWM module, and the detailed coverage algorithm. The simulation for algorithm applied in the robot system shows effectiveness, and the study of the path planning method in this paper can provide much good reference.