Navigation Of Indoor Mobile Robot In Structural Environment

Navigation technology of mobile robot is an important issue of the robot research, it isthe first step to achieve robot-intelligence and serve human life, so it has importantsignificance on the quality of human life and social development. In his paper, a robotnavigation control system is designed for the interior structure of the environment, andanalyzed by simulation.This article introduces the domestic and international mobile robot development statusand prospects the development firstly, and then, the solution that is suitable for keytechnology of indoor mobile robot navigation in the structural environment is analyzed. Onthe basis of the solution, the overall control of the mobile robot navigation is determined.According to functional requirements system software and hardware architecture is analyzed.The control system adopts a distributed control mode, with the ARM microprocessor as thecore. CAN bus communication is used between the master ARM and the junior ARMprocessor, wireless network communication is used between the PC machine and the mainARM, remote control and status monitoring of robot can be implemented.After analyzed the servo software system, the design of the control system isdefinite.With a brief analysis of the ARM microcontroller and embedded system, thehardware interface module circuit and wireless network and CAN bus, is detailed designedand verified reliability by experiment.The Analysis of the model of mobile robot’s moving agencies and positioning theory isintroduced, and then, the environment map is expressed by grid method, the A*algorithmand Dijkstra algorithm is used to carry out the path planning simulation experiments,improve the idea of A*algorithm and used in planning simulationAfter design of the system structure and control program completed, the prototype ofindoor mobile robot is developed, Robot navigation experiment is completed in the indoorenvironment. The prototype can achieve the optimal path from the starting point to the endingpoint without collision meeting the design requirements.