The Hardware System Design And Optimal Path Planning Of Autonomous Guiding Robot

The research on Autonomous Mobile Robot (AMR) is one of the emphases of mobile robot researching. In recent years, many domestic research organizations and institutions have begun to develop the AMR system. With the Natural Science Sustentation Fund from ShanDong province, we have developed the New Intelligent Guiding Robot (Hi-Fully-Ⅰ). This paper focuses on the hardware system design and optimal path planning of our guiding robot.First, the world research situation on mobile robot and the applications of mobile robot in different fields are discussed. The 3 developing periods and international research situation on robot technology are introduced. With that, the robot researching situation and tactic plans at home are set out.In chapter 1, the background knowledge of mobile robot is presented. Then the characteristics of guiding robot and the general frame of the guiding robot system are analysed. Depending on the modularization theory, we adopt the C/S framework , in which the RS232 protocol is used in communication between client and server. The SCM AT89C52 is used as the core of control system.The robot's guiding system is played an emphases on in chapter 2.According to the kinematics character, the relation between robot moving velocity and angle velocity is discussed in details. Therefore, a clear conclusion that the problem of robot control is non-linear is pointed out .After that, the robot guiding system based on light reflection theory are introduced. At last, the barrier checking subsystem based on sensor information while the tobot is moving is discusseded . In this subsystem, the detect principles based on infrared ray and ultrasonic are discussed more particularly. Furthermore, the methods that can be used to improve the sensor's detect precision are discussed.After that, the hardware design of our guiding robot is introduced in chapter 3, witch is the main part of this paper. After analyzing the feasibility of the designing ideas, the robot system both in theory and practice are carried out. In order to lay out the robot system more clearly, 8 subsystems are shown out in details, including power manager, sensor information processor, analog signals collection, switcher signals import, and so on. The result of realization shows that our guiding robot could kept ahead interiorly in both theory and actual product.In order to help the robot accommodate undiscovered environment , in chapter 4,a path...