| The area-covering mobile robot is studied in this paper. For lack of coverage precision and work efficiency for navigation control of area-covering robots, this paper proposes a new concept of navigation control based on magnetized path detection. The robot uses its magnetization equipment to magnetize the soil of the walking paths, and a magnetic vestige is formed as the beaconing. By the combination of multi-sensors, the information of magnetic vestige can be acquired for the area-covering navigation. The paper analyses theoretically paths magnetization and magnetic vestige detection. According to the electromagnetic and magnetic measurement theory, the magnetic vestige detection device is designed. The distribution characteristic of magnetic vestige information among the magnetism sensors is studied, and errors of robot' s position and orientation between magnetic vestiges can be confirmed, which are used as the control signals for the navigation. Considering the features of the navigation based on magnetic vestige, the fuzzy controller is designed. For the kinetic control of the robot in the real-time, the fuzzy controller transforms the pose information between the robot and the magnetic vestige to the driving control signals of the motion control system. At last, we design the hardware and the software for the magnetized path detection and navigation system. The means of navigation based on magnetized path detection is a new groping research for the area-covering robots, and it is valuable in theory research and engineering applications. |
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