A solution to the issue of the path planning of indoor mobile robot is proposed. An auto-recharging mobile robot is produced which perceives the environment by laser radar when it cannot feel infrared of some frequency, while the partial or global target positions are unknown. The combination of the resolution-changed time-varying potential field algorithm and the traditional method of fuzzy logic control makes the robot quickly get out of the local environment, which fulfils obstacle avoidance and path planning without prior information. Having felt the infrared from outside, the robot will trace the infrared and reach the target positions accurately. The application of the resolution-changed time-varying potential field algorithm and fuzzy control solves the problem of the oscillation before and after infrared tracking.%提出了一种实用且有效的解决室内移动机器人路径规划及自主充电的方法,设计了一款自主充电的室内移动机器人.移动机器人在目标位置未知且感知不到红外线时,通过激光测距感知外部环境,将多分辨率时变势场法和传统的模糊控制结合起来实时调整机器人的移动方向,实现避障和路径规划,不需要记忆先验信息,让机器人快速离开局部环境,找到外界的红外信号,由红外进行导航,跟踪红外线,实现准确定位于充电座上.多分辨率时变势场法和模糊控制的应用有效解决了机器人漫游过程和红外跟踪过程的过渡及红外跟踪过程中的振荡问题.
展开▼
