The Control Method Of Autonomous Motion Of Robot Based On Case-based Reasoning And Laser Sensor

Mobile robot is a kind of intelligent system which can be used to finish some tasksthat are settled in certain environment, as well as the development of mobile robot andthe continuous improvement of the intelligence of the mobile robot, the application ofmobile robot in the military filed, industrial filed and agricultural field is becoming moreand more extensive. The theory of machine learning is becoming more and more mature,the performance of the sensors is becoming much better, so the autonomous mobile robotbased on different kinds of sensors and machine learning algorithm and model isattracting more and more people’s attention. In this paper, it made detailed study of themethods of autonomous motion of the mobile robot, and analyzed the presented methodsfrom different angle. And based on the study and analyze it propose an autonomousmotion model based on laser sensor and case-based reasoning, and make a larger numberof experiments to test the model. The main work of this paper is as follows:Take a brief understanding of the development of the mobile robot at home andabroad, make detailed study of the methods of autonomous motion of the mobile robotand do some summary and conclusion.Make a detailed understanding of the robot platform named AS_RF which is used inthis paper including the details of the robot’s hardware, software and all parameters of therobot. Especially for the hardware components of the robot, it took a lot time to mountand dismount the robot to get a deep understanding of the structure of the robot. Thenextend the sensors of the robot based on the needs of this paper. Study the mechanisms ofserial communication seriously, and learn the current methods used in serialcommunication. Then write a new serial class to realize the functions of real-time sensordata acquisition based on the deep understanding of the multi-thread serialcommunication mechanisms. Based on the study and conclusion of the present methodsof autonomous motion of the mobile robot, it proposes the new autonomous motionmodel based on laser sensor and case-based reasoning. The model not only has a lowertime complexity, but also has a very low cost which can make the study of theautonomous motion of mobile robot attract more and more researchers.At last, in order to test the performance of the model, it makes a lot of experimentsfrom different angles. The results of the experiments show that the model can make therobot could move autonomously in some certain environment. At the end of the paper. Itproposed some suggestions of the future work based on the improvement of the modeland the extensions of the model.