Research On The Control And Obstacle Avoidance Algorithm Of Maze Robot

The research of robot, which includes automatic controller, mechanical engineering, electronics technology and computer technology, is a comprehensive subject. With intelligent robot coming into people's lives and playing important roles in battle field, markets, hotels, hospitals and homes, the need of high level intelligent robot system is becoming more and more urgent. Accordingly, more and more researchers are devoting themselves to robotics researches, and the robotic science is stepping into a new stag. As the actuator of maze robot system, the control system effects the stabilization of the maze robot evidently. For the highs peed and high accurate location-control and trajectory tracking, the robot system must rely on advanced motion control theory and fine motion control structure.This Article gives a full consideration in theory to the overall design, the path layout, avoiding obstacle, localization and control system related to the maze robots. The intelligent robot's primary characters are that information which robot acquires from the external environments is processed and then feedback to the robot's control system in order to control the maze robot's action and behavior, thus robot can complete path planning independently or semi-independently to carry out some anticipated tasks.Simply review and prospect the developmental history and the research trend of the intelligent robot, and introduce the structure, composition and function of wheel-type robot. Then take a kinetic analysis and location calculation of the three-wheel type maze robot. In the localization system, we apply Kalman filter theory to merge the redundant information about the azimuth angle, the most excellent estimate value has been reached. Several control laws such as the linear. Most excellent and non-linear control have been designed on the basis of the kinematics and dynamics, and have been simulated and compared. The results simulated by using Matlab have proved that fuzzy controller can improve the performances of this control system.This paper also presents a novel pattern recognition algorithm that is used to achieve autonomous obstacle avoidance of a maze robot. Through the combination of heuristic fuzzy rules and the Kohonen clustering network, a heuristic fuzzy-neuro network is developed. This method also builds up pattern-mapping between ultrasonic sensory input data and velocity command by applying the off-line and unsupervised training method to this network, allowing continuous, fast motion for obstacle avoidance.In order to verify the effectiveness of these proposed methods, this paper finally gives the results of all kinds of obstacle avoidance simulation in a computer virtual environment with Visual C++.All these have set foundation for further research of maze robots.