Robot Polling Plan Designing And Optimum Route Choosing

In this paper, we designed some mathematical models respectively for three problems from reality and also give the whole running solution . The problems are all about the polling robot: how to make it poll quickly, how to make it avoid a blocker safely and how to find out the optimum route for the polling robot when the map is complicated.First, in order to make a polling robot complete a job round while nobody controls , we interpose some checking points on the polling route, for the purpose that the robot can distinguish and rectify the road advancing. That is to say the robot's route advancing is divided into several paragraphs by the checking points, we need to designe the scheme on every small paragraph that the robot walk on.This paper has purposed an advancing model for the robot, by considering the two important factors: time saving and energy conservation; and put forward to a plan on how the robot advances on a straightway when the distances between each two checking point are different. Next, we consider a turn as a straightway, for the same reason we can designe the scheme when the robot making a turn. From the robotadvancing model ,we can give out the relations among distance S_ibetween two checking points, the polling time t, and the polling power dissipation W:Second , after the polling robot being able to check up round according to the plan itself, it is very important whether the robot can safely avoid the meeting blocker. Because nobody controls when polling, it can ensure the security only by the sensor, such as laser sensor , sound wave sensor that oneself carries. By the most common laser sensor that the robot carries, we can check that it's a static obstacle or an athletic obstacle ,and calculate out the obstruction's location , volume in time , for purposes of schemming that how to avoid meeting the blocker safelty:1. When the obstacle rest at the straightaway, usage straightaway-static-blocker avoid scheme.2. When the obstacle rest at the bend, usage turn-static -blocker avoid scheme.3. When the obstacle advance on the straightaway, usage straightaway-athletic-blocker avoid scheme.4. When the obstacle advance on the turn, usage turn- athletic -blocker avoid scheme. Then, we carry out the feasibility analysing for different weather conditions, different road situation and so on, to ensure the schemes above. At this point, a polling robot has already being able to work when nobody controls. But, for a complicated map to poll, we need to plan the path.The polling robot has to go past all the checking points and return to initial location along the shortest route. As you know, this is Traveling Salesman Problem (TSP). Because the robot has no way to turn around in situ ,however, it is able to go past one checking point again and again, so the problem becomes a proximate TSP , but we can not use method in common use to solve. Much more,there are 17 checking points ,so it's much harder to solve the problem.We use Monte Carla method to forecast the optimum route. First, according to the schemes above we can figure out the distance between each two checking points. Then we can use the elicitation method to figure out the shortest oriented path between each two checking points when the robot faces to the appointed direction. After this, we search for the route random , figure out its total lenght and carry out comparison , then choose the optimum route.Finally,we carry out the sensitiveness analysis of the model to prove the reliability of the model. It analyses the excellence and shortcoming of the scheme and brings the corrective actions.