The Research On Strategic Decision System For Navigation Of Mobile Robot Base On ARM

With the development of the science and the technical progress, the robot will be more and more applied to the all kinds of human social application area, such as industry, agriculture, department of defense, scientific experiment and service profession, the mobile robot is the most embranchment for the robotics. At the same time, because of the more flexibility, the mobile robot has been an investigative emphasis.The mobile robot is a intellectualized machine system that is with the perceptibility of environment, dynamic decision-making and the planning, behavior controlling and executing. Its research is concerned with multidisciplinary theory and technique, such as the sensor technique, artificial intelligence, automatic control, mechanics, which can embody the up-to-date achievement, the expansion of application area, being possessed of important value. The obstacle avoidance control of the mobile robot is a difficulty during the path routing, according to the degree of the known information for the mobile robot received, there are two kinds of the routing: the global path routing with known environmental information and the other local path routing with unknown or partitive unknown environmental information. Right now a lot of effective methods have been put forward for the obstacle avoidance under the known environmental information. Compared to it, the implementation for the mobile robot under the unknown or partitive unknown environmental information is more difficulty.This paper designed a strategic system for navigation of mobile robot based on ARM., which realize real-time obstacle recognition and smooth motion in unknown environment. Fist, build up mobile robot architecture based on ARM, and made plans of each modules. Then introduce the hardware of robot, setup the development environment, and also deal with the interface of modules. After that is to fusion the information from multi-sensors to build up an environment model. Finally, the paper induces a strategic of navigation of mobile robot.This paper's major study contents include:1. Build up the navigation research platform of mobile robot with multi-sensors;2. The fusion of information collected by multi-sensors; 3. Navigation of mobile robot in unknown environment.