| Mobile robot is an important branch in the technological field of the robot. It refers to computer science, automation, mechanism, electronic science. At present time, more and more various kinds of mobile robot are being introduced into many application situations, such as automatic transfer of materiel, automatic exploration of dangerous regions, and service work etc. High demands on the navigation ability of mobile robot are put forward by these applications.We design a new mobile robot platform independently base on GAIA —2 which is also a mobile robot platform made in Canada. The thesis's research makes a deep and systematic study of multi-aspect of the robot location and path tracking based on our platform. The research includes three parts: design of mobile robot platform,robot location in path planning,path tracking based on Omni-directional Vision System.In design of mobile robot platform ,this paper introduces all the functions of the mobile robot platform, includes administrative decision block,image process block and moving control system block,ect.The paper presents particularly moving control system which includes MSP430F149 mcu,LMD 18200 modual and signal processing of encoders. Robot location in path planning mainly discusses the theory and application ofrobotlocation.At first,the theory of location using dead-reckoning and ultrasonic sensor is presented. Base on the theory of Omni-directional vision System, We design the system of path tracking. We proposes thresholding method which has been changed a bit to make it more suitable for the task..We apply changing-window-sampling in target recognition.the experiment demonstrates that this methos is exact and stable.In the final of the paper, the research and result are summarized. The future of this research field are described. |
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