Research On Navigation Of Mobile Service Robot In The Dynamic And Static Environment Under The Hierarchical Control Architecture

Robotics have developed rapidly in recent years, a wide range of applications in all areas of society, and towards diversification, intelligent direction. Mobile service robots is representative of intelligent robots in manufacturing, academic research,social services, has had the focus and far-reaching impact. Mobile service robots mobile robot navigation is to improve the intelligence and the application of core issues has been the focus of research of mobile robot academia. With the increasing complexity of mobile robots working environment, mobile robot navigation technology put forward new requirements, key technology as navigation,context-aware mobile robot motion planning and the need to propose new methods and solutions.In view of this, the paper mobile service robot navigation for static and dynamic environment for research purposes, design of mobile service robots hierarchical control architecture, context-aware mobile service robot motion planning and static and dynamic environment to start research works are as follows:Firstly, the analysis of a typical mobile robot system architecture, including those based on functional decomposition of architecture, based on the reaction behavior of architecture and combine the two hybrid architecture. On this basis, the movement hierarchical control thinking, perception layer design comprising environment, motion planning layer, layer functions to achieve hierarchical control architecture of mobile service robots.Secondly, for static, dynamic, dynamic and static three different environment of mobile service robot environmental perception study the issue. Applying sonar and infrared sensors to detect static obstacles, access to static obstacles distance and direction. Measuring the movement speed of the target mobile robot motion or stationary state problem, a method based on speed cameras and Kinect Kalman filtering, image processing, coordinate transformation, speed and other technicalprinciples, in turn solve moving object detection and moving target speed problem,for speed measurement accuracy, reduce noise impact on the environment, the Kalman filter algorithm to estimate the speed of moving objects. Robot in motion the process of target objects with various forms of exercise in real-time position and orientation measurements and speed measurements. For static and dynamic context-aware, based on fuzzy logic control of multi-sensor data fusion technology,simple practicality solved the need for complex environments robot obstacle avoidance and target problem and obstacle avoidance robot the size of the next target speed to solve the problem.Again, for static, dynamic, static and dynamic motion planning problem of mobile service robots in three different environments were studied. For static conditions, improved Bug algorithm. Integration of dynamic obstacles speed information, improved artificial potential field method, complete motion planning in dynamic environment, to solve the problem of unreachable limitations of traditional artificial potential field method does not consider the direction of the blind speed obstacle avoidance and target point. Improved Bug fusion algorithm and improved artificial potential field method, mobile robot motion planning for static and dynamic environments.Finally, the AS-R mobile robot research platform, edit robot navigation control software under static and dynamic environment of mobile robot navigation service test. In the indoor environment, mobile service robot uses sonar, infrared and vision sensor Kinect sensing static and dynamic environment, the use of fusion Bug and APF static and dynamic motion planning algorithms intelligent planning robot navigation path, and successfully passed the experimental verification. Throughout the test, the mobile service robot hierarchical control architecture ideas,context-aware static and dynamic methods, integration with Bug APF static and dynamic motion planning algorithms to systematically verified.In this paper, although mobile service robots, for example, to verify the mobileservice robot hierarchical control architecture of thought, perception and motion planning of the environment and the effectiveness of the application, while the unmanned vehicles, unmanned aerial vehicles, and other navigation study other robots also has universal significance and reference.