| Mobile robot is an important branch in robot technology.It integrates compute science,automation,mechanism and electronic technology.At Present time, more and more various kinds of mobile robot are being introduced into many application situations, such as automatic transport of materiel,automatic exploration of dangerous are put forward by these applications.A new mobile robot platform independently designed based on CASIA.A study on map-building studied in the thesis.With mix architecture in mind, a distributed control system based on CAN bus and SDS protocol is designed and implemented. The mobile robot platform designed is equipped with Ultrasonic Ranging system for map-building and navigation, which is low cost and high precise. A motor speed close-loop control system and an encoder-based odometer is also designed and implemented.Based on the D-S reasoning theory, the information fusion algorithm of ultrasound rangers and the map-building algorithm is studied and evaluated in simulation and experiment. The key points about map establishment are discussed. The result and idea on further study are provided. |
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