Cleaning Robot Obstacle Avoidance Control And Path Planning

As time progress, meanwhile, with the development of science and technology,the robot industry research also progresses with each passing day, walking into workand life of mankind more frequently, the home service robot is particularly significant.This thesis is to study and explore the cleaning robot in home service robot, analyzingthe intelligent control algorithm of the cleaning robot and complete coverage pathscheme. The aim is to make the cleaning robot clean with high efficiency.This thesis discusses the cleaning obstacle avoidance module of robot control andpath scheme. To solve the problem that the cleaning robot encounters obstacles ordrops and Path coverage of operation route during work, the paper designs thecombination of structure and sensor distribution of cleaning robot. It introduces thefuzzy control as the obstacle avoidance control algorithm of cleaning robot, anddesigns the fuzzy controller, fuzzy rules and membership functions, making theimplement of robot obstacle avoidance in regional environment easy and stable.In terms of path planning, the paper introduces some common algorithms firstly,such as A*, wildfires, spiral, artificial potential field method, etc., and then describesraster map method and builds environment map, designs the ridge type path scheme,the scheme is relatively simple to design and can solve the problem of the fullcoverage of cleaning robot. Aiming at the problems of blind Angle, the schemeproposes border running mode for robot, which can find the shortest path to jump outof the corner successfully, reducing the cleaning robot path repetition rate andimproving the efficiency of the cleaning.Finally, a series of simulation experiments proves the feasibility and effectivenessof the robot fuzzy obstacle avoidance system. At the same time, groups of simulationunder different environment barrier distribution demonstrate the high efficiency of acomplete coverage of cleaning robot path planning.