Research On Modeling And Simulation Of Contact Adaptive Obstacle Avoidance Robots

Robot autonomous obstacle avoidance navigation in unknown environment technology has an irreplaceable role in the areas of disaster relief and submarine equipment testing, and life assistance application. The technology combines multiple subjects such as information perception, motion control, and data integration. It can display the development fruits of mobile robot in the current new theory, new technology very well. This technology is one of the hot issues in the study of mobile robots.The problems of motion control, path programming, map building and localization should be solved in the navigation and obstacle avoidance ability of mobile robot. And the information of path programming comes from sensors. At present, the main stream of sensors and testing technology are CCD, laser detection, ultrasonic testing, infrared testing and so on. But the detection device will be affected and even cannot finish navigation and obstacle avoidance task under the environment of darkness, fog, water, vacuum in different digress. The tactile sensor can solve the current problems because it is not affected by environment factors and light intensity, and it has the advantages of the high-precision in data collection and self-positing. Therefore a tactile obstacle avoidance robot comes up in this dissertation.The technology of the tactile obstacle avoidance robot could be researched form following four aspects: 1) Establish the mathematical models for the moving body and the mechanical arm to make up for the detection and range limits of the non-contact sensor, and to improve the performance of obstacle avoidance. 2) Establish the velocity matching relationship between the moving body and the mechanical arm, to improve the efficiency of detecting obstacles. 3) Establish the mathematical model of the relative position and attitude between the carrier and the obstacle in order to obtain the relative position of them under local unknown environment. 4) Propose the AGRR algorithm which is appropriate the tactile obstacle avoidance robot, and achieve the purpose of obstacle avoidance and navigation.In order to verify the reliability of the mechanical arm modeling and moving body and the feasibility of AGRR algorithm, a tactile obstacle avoidance robot model has been established with Pioneer₃AT robot in the Webots simulation environment in this dissertation. Under the 3D map that make robots to run from start to finish many times with different speed for finishing obstacle avoidance navigation tasks. Through to compare the autonomous obstacle avoidance navigation task time, average speed, accuracy, efficiency the robot needed to complete, the optimal control results can be obtained. Therefore the most optimal path, the shortest time and the highest efficiency of the obstacle avoidance navigation scheme should be found out. It can make up for the existing non touch obstacle avoidance navigation technology in certain situations.