The Systematical Design of an Indoor Autonomous Mobile Robot
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摘要: 提出了一种室内自主移动机器人系统设计方案,以代替人完成家务劳动、物品搬运及资料传递等任务。该系统以先验地图信息为基础,结合传感器所采集的信息建立相应的环境模型,使机器人能够自主完成最短路径规划、障碍检测和运动控制等功能。机器人的行进速度和角度数据通过无线芯片nRF24L01实时传送给上位机进行分析处理,分析后再将控制指令反馈给机器人执行,以调整机器人的运动姿态。仿真测试表明:所设计的系统稳定可靠、实现了预期的设计目标。Abstract: An autonomous mobile robot system for indoor environment is presented, primarily for family and office and other regional work environment, instead of people to complete tasks such as housework, goods handling and so on.The system can establish an appropriate environment model by a priori map and information which is collected by the sensors, making the robot independently complete the functions of the planning of the shortest path, obstacle detection and motion control and so on.The robot's moving speed and angle data are real-time transmitted to the host computer by the wireless chip for analysis, and then the control instructions are real-time transmitted to the ro-bot to adjust the robot's forward movement.The simulation test of the planning of the shortest path, obstacle detec-tion and the deviation of moving trajectory showed that the designed system is stable and reliable and achieves the expected goals.
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Key words:
- design /
- collision avoidance /
- robots /
- autonomous mobile robot
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