Autonomous Mobile Robot Control System And Path Planning

With the rapid development of computer, network, mechanics, electronics, informatics, automation and artificial intelligent technology etc, autonomous mobile robotics has entered a new stage and been used in various field. The work condition robots faced is more complex, which is always unknown, dynamic and unstructured. So the autonomous ability of robot to fulfill a mission in real time under this environment has a new challenge.Researches on the path planning and kinematic control of mobile robot in feature based indoor environments are presented in this dissertation. Based on analyzing the function and architecture of autonomous mobile robot, a new systematic architecture which suited to the robot was presented. A new type of mobile robot motion control system based on EPOS motion controller was also designed, together with the software for EPOS application. After accomplishing the woks above, a wireless remote control system which was based on socket technology was designed for the robot. Besides, the dissertation mainly focus on dissertating the principle and actualization method of heuristic searching arithmetic and A* searching arithmetic. The application of A* searching arithmetic in mobile robots has been also introduced, and a simulate software based on A* arithmetic for robot path planning has been designed under Visual C++. By using this software, a simulation and experiment for path planning was carried out on the QDU-III mobile robot. Several methods to improving the map used in the path planning were presented too. At last the availability of the path planning method was proved by the experiment.