Mechanical Design And Control For A Mobile Robot System

With the development of mobile robotics, the robotic technology is playing a greater role in the industry, household, services, military, scientific research and other fields. As a mobile platform of household service robots, people want the robot to take on more household chores, and people have more time on learning and work. People expect that the robots have the ability of autonomous learningcan and quickly adapt to the environment. The thesis uses Family service robots as the background and studies the new mobile robot. The main research contents and results are as follows:The thesis analyses robot structures at home and abroad, and studies the new type of five-agency mobile robots combined with the requirements of this project. Mobile robot sensor system includes a laser sensor, infrared sensor, anti-collision sensors, gyroscopes, encoders and so on. The robot uses laser sensors, infrared sensors and anti-collision sensors to sense the external environment. The laser sensor is effective to obtain the information of the long-distance barrier, while infrared sensors and anti-collision switch can get the long-distance barrier information which the laser sensor cann't.The robot kinematic model and motion equations according to the characteristics of five travel agencies robot are established, and robot motion is implemented. Robot motion control uses the combination of position loop and speed loop combination to improve the flexibility and real-time of the robot motion. According to indoor environment, the robot locates the position by identifying the laser sensor. This method has high accuracy and high reliability. The thesis uses a simple and effective fusion algorithm to fuse data from the sensors. According to the environment the robot makes the right decisions to achieve obstacle detection, obstacle avoidance and navigation in unknown environment.In this paper, single regional division is proposed based on the grid method, and indoor environment is divided into several single-channel regions. The path planning is conducted based on each local area, and finally the path planning of the entire region is implemented. Through some experiments, the reasonability of this method is verificated that path planning in the room environment can play good results.