Path Planning And Autonomous Obstacle Avoidance On AS-RF Robot Platform

Intelligent mobile robot multi-sensor information fusion in industry, nationaldefense and military, service industry and other fields has been widely used. Therefore,the intelligent mobile robot multi sensor information fusion has become a focus ofresearchers all over the world to study direction because of its broad prospects fordevelopment. Including intelligent mobile robot is a multi-sensor data fusion, intelligentcontrol, autonomous obstacle avoidance, path planning, multi-functional integratedmechanical systems. It can not be compared to traditional mobile robots and roboticarms, in the advanced aspects of a larger improvement and development。Our intelligent robotics research will also move as a major research projects andresearch. AS-RF intelligent mobile robot Shanghai grandar company production can beinstalled infrared sensor, sonar sensor, CCD camera, panoramic camera, laser rangefinder and other external equipment, with strong expansion ability, is an intelligentmobile robot development platform of good. Taking the AS-RF robot as thedevelopment platform, using AS-RF robot external sonar and infrared sensors,in orderto solve the problem of path planning of mobile robot and autonomous obstacleavoidance and tracking of moving objects, the main work is as follows:1. Build AS-RF intelligent mobile robot software and hardware developmentplatform. Hardware: understand the working principle of the use of infrared and sonarsensors, and according to research ways of working need to set the sensor; Software:configuration of the different types of documents, constructed robot car programmingdevelopment environment, through the preparation process, sensor interface functioncalls to control an external sensor to work.2. In order to achieve the AS-RF autonomous robot car obstacle avoidance function,the grid method, you can view, neural network algorithm and other mainstreamalgorithm are compared to elect a suitable AS-RF robot car obstacle avoidance controlalgorithm-the traditional fuzzy control algorithm. And the traditional fuzzy controlalgorithm for obstacle avoidance process guiding the car obstacle avoidance insufficientprecision problems, the traditional fuzzy control algorithm is improved, the fuzzycontrol algorithm improved by37percent accuracy obstacle avoidance robot car.3. The path planning and autonomous obstacle avoidance subsystem subsystemorganically bound together to make AS-RF robot car has the ability to process inaccordance with established walking routes to avoid the obstacles independent planningcapacity. Path planning subsystem design uses infrared sensors are extremely sensitiveto changes in light intensity characteristics, to control the car tracking travel purposes.Autonomous obstacle avoidance subsystem design is the use of multi-sensor fusiontechnology will infrared and sonar sensors to collect information fusion, and then selectthe information to the processor to effectively control the car autonomous obstacleavoidance.4. According to the principle of ranging sonar sensor, using the sensor to the distanceinformation, through the analysis, draw the obstacle position map, and program the computer display sonar mapping interface; according to the infrared sensor has theability to sense the movement of objects, programming the AS-RF robot trackingfunction.