The Indoor Location And Local Path Planning Of Mobile Robot

With the rapid development of economy and technology, the level of automation ofpeople’s life and social production is increasing, robots which best reflects the degree ofthe automation follow into people’s sight. From exploring robots for scientific research toindustrial production for automated guided vehicle transportation, disaster relief robot toservice robots in daily life, independent travel is one of the basic functions of these robots.In this paper, based indoor positioning methods of ultrasound and artificial potential fieldlocal path planning method, design of the mobile robot hardware system, the maincontents of this paper is the following four points:(1) System hardware of platform structures mobile robot. For characteristics ofunknown static obstacles environment and driving mode mobile robot system, designindoor positioning systems and workflow and hardware design of mobile robot system.Further, build a indoor mobile robot systems based on wireless communications.(2) Research on indoors pose localization method of mobile robot. ProvidePositioning System reference terminal placement, get the location coordinates of themobile robot using the hyperbolic equations model; analyze for the errors of mobile robotposture angle though electronic compass, improve the accuracy and reliability of themobile robot posture angles using the least squares method based compensation method.(3) Research on local path planning based on artificial potential field method. Forlocal minimum problems of traditional artificial potential field method, improve artificialpotential field potential function to solve the unreachable problems result from targetlocation near the obstructions (GNRON). Further, fuzzy repulsive is introduced into thevirtual force calculation of the mobile robot, so that the mobile robot can bypass theobstacle between its location and the target location, travels to the target position andfurther solve the local minimum problem.(4) Indoor experimental study of mobile robot. Conduct the simulation experimentsof the improved artificial potential field method step by step, to verify the effectiveness ofthe proposed local path planning methods. Based on the indoor experimental study ofmobile robot system, completed the path planning an experiment in an unknown static environment, and verify the effectiveness of the proposed methods and mobile robotsystem.