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Study on Localization and Path Planning for a Cleaning Robot

Author: HuZhengWei
Tutor: HuangZhen；WangHongBo
School: Yanshan University
Course: Mechanical and Electronic Engineering
Keywords: Cleaning Robot Locate Path planning Environment recognition Multi-sensor fusion Biologically inspired neural network Virtual boundary Control system
CLC: TP242.6
Type: Master's thesis
Year: 2010
Downloads: 194
Quote: 0
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Abstract


Positioning and path planning are two key technologies , but also to achieve its intelligent cleaning robot , the theoretical basis for fully automated . Papers on cleaning robot autonomous positioning and complete coverage path planning to carry out in-depth analysis and system studies . First, principles and algorithms used four sensor positioning , and based on its performance and features indoor positioning using wireless sensor networks, ZigBee, laser sensors and photoelectric encoder fusion outdoor positioning using differential GPS, laser the sensor and the photoelectric encoder of the integration of a positioning method, precise positioning of the interior and exterior of the cleaning robot . Secondly , according to the characteristics of the laser sensor , a simple and effective road boundary recognition algorithm , the algorithm is able to achieve real-time detection and linear fitting of the road boundary ; introduced laser - based sensor static and dynamic obstacle avoidance algorithm for Cleaning Robot the autonomous positioning and the traversal path planning to lay the foundation . Again, for the current indoor structured sector environment traversal path planning study more mature , outdoor road environment traversal path planning yet too many achievements can learn from the status quo , the improved algorithm is proposed based on biologically inspired neural network traversal path planning principles specific analysis of the improved algorithm and verify its feasibility by computer simulation . Finally , according to this study cleaning robot autonomous positioning and traversal path planning specific requirements of the design of a more complete control system and write a subroutine of the application modules and the man-machine interface ; robot prototype experiment verified In this paper, the cleaning robot positioning and the traversal path planning algorithm accuracy and effectiveness .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
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