| The invention of robot has improved human production and life in many ways, and especially the mobile robot, it has been widely used in military, aerospace, service, medical, human daily life and many other fields, for it's advantages in stability, carrying capacity, mechanical structure, control, rapidity, flexibility, process and efficiency. In the process of studying the robot, the robot's mechanism, control system,environmental cognition system and navigation and positioning system are usually to be studied.The subject of this study is Route Plan of Omni-directional Four-wheeled Mobile Robot Based on Multi-sensor Data Fusion. It's main research object is an omni-directional four-wheeled mobile platform,and has been designed into differential drive with four Mecanum wheels which has three degrees of freedom, three ultrasonic sensors and one laser radar are used to realize the recognition of environment through the data fusion technology of fuzzy neural network. The route plan based on behavior has realized going from start point to end point with no collision.In some special cases, local map was constructed.In this study, the theoretical research is verified by physical platform and software platform. The physical platform is an omni-directional four-wheeled mobile vehicle, assisted by the KS109 ultrasonic sensor, the UST-10LX radar and the Xbox360 remote controller. The human-computer interaction control software is developed by Visual Studio 2013 and Unity 3D IDE, interacting with embedded system, which realizes remote control, automatic obstacle avoidance control and interface control. The simulation software is developed by QT, which proves the effectiveness of the path planning algorithm. During the development of the software platform system, serial communication technology, network communication technology, database application technology are used. In addition, a complete serial communication protocol is designed in the process. |
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