| With the development of artificial intelligence and computers,control technology and the improvement of people's living standards,mobile robots are widely used in social life,such as the use of intelligent public service robots,smart care robots,fire rescue robots."Made in China 2025" regards robots as the overall deployment of key development areas.At the same time,the state has developed the "Robot Industry Development Plan(2016-2020)" to guide the development direction of future robots.Today's various robots play a role in advanced manufacturing.The key supporting role,therefore,the development and industrial application of robots with different functions is an important indicator to measure the development level of a high-end manufacturing,and is of great significance for improving people's living standards.Focusing on indoor intelligent public service robots and related core technologies,this thesis studies the obstacle avoidance strategy of indoor intelligent mobile robot based on multi-sensor information fusion technology,and deeply analyzes and designs its chassis control system,and builds a robot prototype platform..The main research contents of the subject include the following aspects:(1)Based on the analysis of the development status of mobile robots at home and abroad,the paper puts forward the overall design scheme of the indoor intelligent mobile robot chassis control system,including the construction of the mobile robot chassis system and the design of the overall control system of the robot.The barrier strategy study was well prepared.(2)The environment perception in the mobile robot obstacle avoidance control system depends on various sensors installed on the main body.According to the indoor environment application of the subject research,four probe integrated waterproof ultrasonic distance measuring sensor WL200 D and infrared sensor GP2Y0A02 KOF are selected.The attitude sensor BWT901 CL is used to sense the real-time obstacle information of the surrounding environment of the mobile robot.The fuzzy logic fusion algorithm is used to process the information measured by various sensors and determine the motion state of the robot.The kinematics model of the mobile robot is built by MATLAB/Simulink simulation software.The obstacle distance value provided by each sensor of the robot and the real-time speed error of the robot modified attitude parameter are taken as the research parameters.The fuzzy controller is studied in detail through simulation.Experiments verify the effectiveness of the designed obstacle avoidance strategy.(3)Based on the research of obstacle avoidance strategy,the hardware construction and software implementation of the indoor intelligent mobile robot chassis control system are studied,including the main control module interface design,sensor interface design,motor drive module interface design and each module and MCU.The communication code is written to realize the application of the fuzzy control obstacle avoidance strategy on the main control chip.According to the above research,on the mobile robot obstacle avoidance experiment platform,the obstacle avoidance experiment of different numbers and different positions is tested under the real environment.The actual test results verify the actual obstacle avoidance performance of the mobile robot. |
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