Study On Path Planning Method And Control Strategies Of Mobile Robot

As a branch of the robot,research of mobile robot had been developed and applied widely in recent years,for example,in space detectors,military explosion-proof robot,civilian household service robot and so on.Issues of mobile robot system need to be solved first was using their own portable sensor device to sense the environment and plan path to avoid collision.This thesis focused on basic principles of mobile robot,such as kinematics model,machine vision, control strategy,and algorithm of path planning.The main achievements of this thesis include:(1) This thesis detailed the theory of mobile robots and technology, including mobile robot platform structure, the sensor device, driver structure, mobile robot kinematics model.Based on the general kinematics equation of mobile robot,this thesis introduced a kind of simplified kinetic model, preparing for the path planning method.(2) The theory of machine vision and omni-vision system were studied in this thesis, including the omni-vision hardware architecture and omni-vision system principle.(3) Based on omni-vision of mobile robot, this thesis proposed a strategy of navigation control.The new strategy used the data from 2-D image to calculate the 3-D distance of motion target.This method used similarity triangle theory to calculate the distance between robot and motion target.Also,the azimuth angle of target could be computed. According to all of these calculation data, mobile robot could control the run direction and wheel speed to avoid collision.(4) This thesis described the current methods for mobile robot path planning and used the fuzzy control method to plan path firstly.The result of experiment show that using the traditional fuzzy control planning approach, mobile robots have shortcomings in some environments.To make up for the shortcomings of traditional fuzzy control,a self-tuning fuzzy control method proposed in this thesis which let robot run in the safe route.(5) At last,this thesis introduced artificial potential field path planning method.A modified potential field model was present to rectify the traditional artificial potential field method inducing local minimum problem.The new model adopted the penalty method to deal with local minimum problem.And according to the simulation, the new model achieved very good effect.