Design Of Indoor Cleaning Robot And Research On Its Path Planning Algorithm

With the rapid development of science and technology, an aging population and the fast pace of life appear, the application of mobile robot in the area of society service has made a great progress, especially the Indoor cleaning robot, accepted by more and more people. This thesis will do a survey about different cleaning robots, and try to design a kind of Indoor cleaning robot which is high smart and cost less money. On basic of the idea, we will attach importance to the design of system and the Path Algorithm.In the aspect of system, this essay introduces a way of environment explore by ultrasonic range, and a hardware design of the main control unit of arduino Open Source Control Card, apart from these, it also gives details of choice of sensor, theory of use and way of place.In the aspect of path planning, the essay studies against the background of unknown static indoor environment, related to localization and mapping together with complete coverage path planning. Localization and mapping carries weight in robot path planning. This essay will introduce a way which is based on ultrasonic range feature extracting, simultaneous localization and mapping(SLAM).Processing the data from ultrasonic range, we can extract the feature of lines and points, and rasterize them to get the raster maps, then correct the errors of localization process by Kalman filtering. The complete coverage path planning which has efficiency and repetition rate constraints aims at a complete coverage. Analysing all kinds of path planning algorithms, this essay innovatively applied the algorithm which is based on biologically inspired neural network for the indoor cleaning robot path planning, this method has the simple calculation and good instantaneity without any prior information. Based on simulation, the essay proves the advantages of this method when applied for cleaning robot path planning, meanwhile, some shortages still exist. Aiming at these shortages, the essay modifies some parameters, introduces template based model to guide the rules. Finally, the simulation result proved the progress of efficiency and repetition rate due to the improved algorithm.The last part of the essay set up an experimental platform to conduct modularized experiment, the motion localization, mapping experiment and area coverage experiment. Both the design of system and the area coverage path planning algorithm have been verified.