Research On Navigation Of Wheeled Home Service Robots

The demand for home service robots is increasing rapidly with the development of social economy and deepening aging problem. In order to complete various service tasks, home service robots need to be equipped with better navigation, but the navigation used in the past time is less satisfactory. So the thesis designs a method of navigation applied in indoor environment for home service robots.As home service robots’ navigation covers position and path planning technology, this thesis at first makes a detailed analysis in the research status of this technology and determines a technology suitable for position and path planning considering the particularity of indoor environment. As to the demand for position of home service robots, the indoor position algorithm with dead reckoning is given based on the mathematical model of robot and indoor environment. Then a path planning algorithm combining grid and behavioral path planning is presented after the research in path planning of home service robots. The deliberative layer adopting grid algorithm gives a global optimal path sequence, and offers sub target to reactive layer. With the behavioral path planning method, the reactive layer fulfills the path planned by the deliberative layer and avoids obstacles within the environment. Four basic behaviors and many behavioral coordination methods are designed in the reactive layer. At last, with the MATLAB simulation bench, the simulation verification and analysis of the path planning method is given. Simulation result shows the path planning method in this thesis enables the robots to escape statistic and dynamic obstacles rapidly, solves the "local minima "problem of the concave obstacle, make a judgment about whether this robot sinks into local dead trap, and stop the path planning. Simulation shows that the path planning method in this thesis has a good planning effect, can meet the requirement of design index.This thesis provides an effective navigation method after researching the navigation problem of home service robots. This method has a certain reference value in navigation or path planning for home mobile robots.