| The paper studies a new type mobile robot, namely full-area coverage autonomous mobile robot. The emphases of this paper are the full-area coverage path planning and the system of obstacle avoidance for this robot. The paper adopts the method of roundabout planning for the complex problem of global path planning, which is solved by reducing to some simple problem. For full-area coverage local path planning, the paper adopts fuzzy control algorithm. Fuzzy control algorithm having robustness of itself is combined with the behavior of apperceive-action based on biology, which realizes local path planning of the mobile robot. For the system of obstacle avoidance of full-area coverage mobile robot, the paper makes deeply study of its strategy of fully approaching obstacle. Finally, the paper particularly illustrates the software/hardware design of the system of obstacle avoidance. |
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