Research On Maze Robot Design And Exploration Algorithm

The intelligent robot industry is a new high-tech industry cultivated by the Chinese government.The development of intelligent robots is of vital importance to economic structural adjustment and industrial transformation and upgrading.The maze robot is a typical representative of miniature intelligent mobile robots.It can perform path optimization in unknown environments,and has the advantages of low design and production costs,strong versatility,and good experimental controllability.The maze robot platform can carry out research and development of many robot key technologies,which has a certain promotion effect on the development of robot technology.1.A new set of maze robot hardware design scheme is proposed in the article.This article has made certain optimizations in the selection of module components such as controllers,sensors,motors,communications,and power supplies for the maze robot.In order to eliminate the influence of sunlight on the infrared distance measuring of the maze robot,a new triangular reflection measuring method is adopted.2.Kinematics modeling of a maze robot to improve its motion control.Based on PID control,a new PI-PD combined control model for maze robot motor is proposed.The direction,speed,and position control of the maze robot motor are analyzed one by one.The obstacle avoidance and wall-following motion of the maze robot are studied,and a fuzzy logic control model is designed to optimize the obstacle avoidance and wall-following of the maze robot.3.Existing maze exploration algorithms such as left-hand and right-hand exploration algorithm and flood filling algorithm are studied in the article.Based on the general flood algorithm,an improved flood exploration algorithm is proposed to improve the exploration efficiency of the maze robot.The improved algorithm is simulated on the Visual Studio to verify the feasibility.4.The experimental platform is set up and the maze robot experimental rules are formulated.According to the design scheme proposed in the article,the real maze robot is made and the maze robot control program is developed.5.Maze robot experiments are performed and the experimental results are analyzed.The experimental results show that the design scheme of maze robot proposed in this article could well solve the problem of infrared distance measuring error and has good motion control effect.The improved flood exploration algorithm can effectively improve the exploration efficiency of maze robot.