The Control And Path Planning Of Smart Car Based On Android

So far,the sweeping robot on the market is a typical example of intelligent robots,as a new concept of smart home has entered the our lives,which not only can clean the room intelligently,but also can be controlled by a mobile phone device or a computer wirelessly,people can interact with a computer to do all the housework,which is more practical and popular.However,the sweeping robot on the market have the problem like obstacle avoidance is not flexible sometimes,can't cover the work environment completely or function is not comprehensive and so on,in the same way,about the indoor security problem is also been upset and difficult to solve the problem.Combined with these issues and people's needs,in this paper,an intelligent mobile robot had been made,which is an smart car.Installed two cameras at front of the smart car,which can controlled and monitored wireless by Android client,and studied the path planning of sweeping robot,and proposed a path planning method based on the combination of the grid map and the improved round-trip comb,then,combined with the image captured by the camera to identify the indoor objects,make corresponding strategy of obstacle avoidance,the smart car can do its jobs more efficiently,so that the smart car can be applied to the sweeping robot,the sweeping robot can cover the sweeping area more flexibly,and can monitor the designated area at the same time,enhanced indoor security,to expanded the function of sweeping robot.The main works are following:(1)construction of the smart car:This car is mainly based on a Raspberry Pi,and combined with a Arduino main control board.Raspberry Pi mainly includes automatically connected to wifi camera video,and other functions,the Arduino board mainly includes return three bearing motor driven ultrasonic sensor data,and other functions.A utility model patent had been applied about the construction of smart car.(2)Intelligent control and mobile camera monitoring:The APP on the Eclipse platform development,SurfaceView drawing mechanism and multi-threading had been used to achieve video display,tested on the different type of Android mobile phone,the highest average frame rate reached 25fps,and the Maximum frame rate up to 30fps;Second wireless intelligent control car direction,based on the closed-loop PID control algorithm and the combination of hall sensor to control the smart car control motor speed,ensure synchronous motor,the smart car can walk straight without deviation;Finally,the data of the car sensor can be obtained in real time as the basis of the path planning.(3)Path planning research:Path planning for sweeping robot belongs to full coverage path planning,coverage is the most important evaluation criteria,repetition rate is followed,This paper compared the advantages and disadvantages of the commonly used algorithms and the difficulty of the complete coverage path planning,then made the path planning based on the combination of the grid map and the improved round-trip comb,in this paper,the method can be used in a variety of different environments,such as the method applied in ten kinds of typical common indoor environment?coverage rate is higher in the literature the same indoor environment and building a robot to clean the common and difficult to avoid obstacles encountered in the process of situation of indoor environment,measured coverage rate can reach 100.00%,further improve and optimize the complete coverage path planning of robot.