Path Planning Of Mobile Robot

The robot had the most persuasive power as the 20th century automatic control domain ,and make the considerable progress, the domestic services robot is the youth of special robot's, the development is very rapid. Various countries not only study and develop various intellectualized household electrical appliances, moreover also develop the new market of serves robot's. The service robot will be taken as a major project and special topic of automation field of the advanced manufacturing industry in our nation's 11th Five-year plan.This paper based on domestic services robot, does a lot of work deeply in detail and the experimental verification to route planning of domestic services robot. Has conducted the research to the robot control structure system, has determined based on the behavior control architecture; Has carried on the analysis and the adjustment to the robot hardware architecture, and analyzed the robot kinematics model.The robot has used the fuzzy logic control algorithm to static obstacle avoidance, and through experimental verification this algorithm feasibility. According to the experimental result, makes the improvement and the adjustment to fuzzy variable's selection and the fuzzy rank, has made the improvement to this algorithm, enables this algorithm better to realize the static obstacle avoidance.In the experiment process, embarks from the question root, analyzed the reason of collision from the kinematics aspect, whether took by the relative velocity direction to have collision's basis, proposed based on relative velocity's selectivity obstacle avoidance method. Unify this method and the artificial potential field method, simultaneously in the artificial potential field obstacle avoidance area in the division to introduce robot own speed. The experiment indicated that this method's judgment to collision is quite accurate, has made the good experiment progress to the static and the dynamic obstacle.The overall system uses Visual the C++ 6.0 integrated development environment, the programming realizes various modules function. The experimental result showed that the robot can carry on the static and dynamic obstacle avoidance in indoor/outdoor situation.