Research Of The Robot Path Planning And Remote Control In Unknown Environment

Obstacle avoidance and path planning are the two basic problems for robotnavigation, especially in the dynamic and unkonwn environment. whither the ability of therobot obstacle avoidance is good or not often reflects the performance of the robot’s pathplanning. In oder to realize the robot navigation, this paper propose an intelligent methodof path planning and an effective obstacle avoidance strategy. On the other hand, inaddition to obstacle avoidance and path planning function, the robot remote monitoringsystem is also an important research focus for the robot working in unknown environment.First of all, this paper gives an in-depth analysis to the moving mechanism of mobilerobot and motion principle, and builds out a motion coordinate system for robot, whichformula is derived, and then uses the dead reckoning method to achieve real-timepositioning of the robot.Secondly, for the problem of effective obstacle avoidance in uncertain or unknownenvironment, the obstacle avoidance algorithm is proposed, which is based on the PSDsensor and the sonar sensor. In order to avoid obstacle, these two algorithms detecte thesurrounding environment by sensors and process the data on line. The paper verify thefeasibility of these two algorithms and with effectiveness as the ASR intelligent robot aplatform.Then, for the minimization problem which the robot encounters in unknownenvironment, this paper proposes a new algorithm to solve the deadlock. The algorithmalso proposed robot clockwise motion, counterclockwise motion and reverse motiontending to target concepts, which escapes from the U-shaped successfully. Considering thefuzzy control algorithm does not establish an accurate model for the complex environment,we design trending to target fuzzy controller and obstacle avoidance fuzzy controller, asthe two fuzzy controllers combined the robot’s tending to target behavior, obstacleavoidance behavior,the robot implements the the robot path planning which is based onbehavior in an unknown environment. Finally, this paper verify the validity of deadlock algorithms as the ASR intelligent robot a experimental platform, and realize the securityrobot navigation in unknown environments.Finally, for the robot can not be fully autonomous navigation in unknownenvironment, the paper studies a mobile robot remote control system, which is based onthe obstacle avoidance and path planning.The system uses network communication torealize that the PC monitor and control the robot in the real time, and through experimentalso verify the feasibility and stability of the system successfully.