The Research Of Autonomous Obstacle Avoidance For Air Duct Cleaning Robot Based On Fuzzy Control

This papet studies a air duct cleaning robot.First of all ,on the base of studing a lot of information of air duct cleaning robot, this paper introduces the research background of this subject,and summarizes the present research situation in air duct cleaning robot flied.It also describes the main study contents and research work of this dissertation.Secondly,based on kinematics princile of the four-wheel drive robot, this paper analyzes the motional characteristics of air duct cleaning robot and builds its simplification kinematics model.Thirdly,this paper presents the cofiguration of air duct cleaning robot,including Ultrasonic Sensor and red-infrared sensor.The simulation experiment is following.Based of studing the theory of fuzzy control,the paper designs air duct cleaning robot's motion control system and studies the stepped and avoiding obstruction of air duct cleaning robot.also simulates movement of air duct cleaning robot.At last,the paper makes a summarization of all the work and the prospective of the future job.