Robot Path Planning Based On Ultrasonic Location System

With the development and wide application of robot technology, mobile robots gradually come into people's daily life. And indoor mobile robot motion planning in the indoor environment has become an important direction of their research. Indoor environment include house, nursing home, museums, airports, warehouses, farms and etc. To move around in indoor environment, the robot location information, the envirment information and the path planning needed to be getting first.The project integrated numbers of technologies, some innovation ways have been made in practical application-oriented approach, and an improved path planning algorithm had been proposed. Simulation and real envriment experiment showed the algorithm could give a much better result. Specific works were as following:Designed and implemented ultrasonic positioning system and communication protocols of ultrasonic network were designed and implemented, choosing trilateration to complete the pose calculation of controlled object in sports space. The robot can be selected as controlled object, people, animals and other mobile objects which needed to be located and obtained relevant information.Proposed a modeling of an unknown environment.When in the case of robot location was known, the robot walked along the edge of the working environment, a closed curve, the got the a comprehensive sense of the working environment, establishing the contours of the environment then dividing it into grids. Finally, in the base of an unknown environment using the grid of depth-first traversal algorithm for the entire feasible working space, the search of all possible paths will know all the obstacles at the same time then establishing the indoor environment map.Improved the classic A * path search algorithm, and proposed a new path planning algorithm for the indoor robot. In this path search algorithm the turning of mobile robot is considered. This algorithm greatly reduced the time of the way finding time.Used ultrasonic positioning system which has been achieved to collect data, calculate the location of moving objects and verify system reliability. We verified the modeling of an unknown environment and improved the correctness of A* path planning algorithm which was proposed in this issue by simulation. Finally, the global path planning experiment was completed by MT-R robot.