基于自主路径规划的未知空间探索机器人系统研究

Research on unknown space exploration robot system based on autonomous path planning

随着移动机器人应用领域的不断扩展,其所面临的工作环境越来越复杂,结合图像识别技术和人工智能学习算法进行未知空间环境的机器人路径规划已经成为热点研究问题之一。本系统借助单片机、各类传感器和嵌入式系统等硬件结构相配合,通过软件算法设计赋予机器人一定的自主判断、规划分析和物体识别能力。以室内移动机器人开发应用为背景,对机器人室内环境中实现可靠的运动控制和路径规划等问题进行较为深入的应用研究。

With the continuous expansion of the mobile robot applications,the working environment is becoming more and more complex.The robot path planning in unknown space environment has become one of the hot research issues,combining the image recognition technology and artificial intelligence learning algorithm.With the help of the hardware structure such as single chip computer,sensors and embedded system,and through software algorithms,the robot system has the ability of autonomous judgment,planning analysis and object recognition.Based on the development and application of indoor mobile robots,this paper has carried out in-depth application research on the realization of reliable motion control and path planning in the indoor environment of robots.