Design And Path-planning Research Of Cleaning Robot

As a sort of service robot, the cleaning robot can relieve people from the heavy cleaning work and will be widely used in our future life. The cleaner associates mobile robot with cleaner and involves in many related fields such as mechanism, electronics and computer science. It is a new research field of service robot, which contains high technologies and attracts attention from domestic and abroad. This thesis develops a cleaning robot, goes deeply into the path-planning technology of cleaning robot.The main contribution of this thesis is as follows:First, the correlative concepts of robots are expatiated. The current situation and developing direction of cleaning robots both in the domestic and abroad are analyzed in the thesis. Subsequently, the research backgrounds, meaning, and main content of the thesis are expounded.Second, hardware and software design for one kind of cleaning robot is achieved. It contains mechanical and controlling system. Hardware drawing, experiment circuit making, system installing and adjusting are the main parts.Third, path-planning theories which have important roles in the robot characteristic are expatiated fully and systematically, especially for complete coverage path-planning in unknown circumstances. After compared with the typical in-use path-planning method, improved coiling algorithm of path-planning is used in this paper.Fourth, considering the source of the system, a software simulation platform, which could simulate the path of the coiling way according to different shape of obstacles, is designed in the paper. This part describes the rule of algorithm in detail and simulates the implementation of the algorithm. The software chart for the autonomous is given. And the merits of the approach, such as high coverage, less computation and little requirements for the sensors, are validated through simulation.Finally, the algorithm is transferred into the real system. Through a series of experiment and modification, the cleaning robot can finish the cleaning of room at last and comply with the design requirement.