智能控制系统的扫地设计.pdfVIP

本科毕业设计说明书 扫地机的智能控制系统设计 SWEEPER INTELLIGENT CONTROLSYSTEM DESIGN 学院（部）： 专业班级： 学生姓名： 指导教师： 年 月 日 1 扫地机的智能控制系统设计 摘要 目前，各式各样的服务机器人越来越多应用于人们的生活中，从事着与人们生活息 息相关的服务工作，极大地提高和改善了人们的生活质量。室内智能扫地机器人就是在 这种背景下诞生的一种家庭服务机器人。室内智能扫地机器人的路径规划采用区域充满 的规划方法，目标是在设定区域内寻找一条从始点到终点且经过所有可达点的连续路径。 根据建立的扫地机器人平台，提出清扫机器人随机运动路径规划算法。机器人利用其上 安装的红外传感器和摄像头来识别和感知房间环境，机器人开始以螺旋运动方式覆盖房 间的空白区域，当遇到障碍物时，启动障碍物应对策略，通过计算机软件仿真和在房间 环境中进行实验验证了该算法的有效性。 关键词：扫地机器人，单片机，环境识别，路径规划 2 SWEEPER INTELLIGENT CONTROLSYSTEM DESIGN ABSTRACT At present time,more and more various of service robots are designed and applied to people’s daily life.The application of these robots is promoting the quality of people’s life tremendously as they deal with the works related to people’s life closely.Indoor automatic cleaning robot is one of these service robots developed to help people to carry out the troublesome room cleaning work.The path planning algorithm of Indoor Automatic Cleaning Robot should spread over the room area using the area filling path planning algorithm to find a continuous path from start to end. A random moving path planning algorithm is put forward based on the platform. The cleaning robot identifies the room environment using the infrared transducer and the camera outfitted on its body.Moving in the spiral motion mode with the gradually enlarging radius,the robot begins to explore and clean the blank area.While it encounters obstacles like wall or furniture,it will start the strategy of dealing with obstacles.This algorithm is validated through computer simulation and robo