Mobile Robot Experimental Platform And Monitor Behavior Research

In mobile robot (MR) research area, the robot which has super autonomous behavior ability is a mainly field to be developed, in some special work environment, the advantage of mobile robot is more remarkable. The outdoor MR is challenge and concerned task in autonomous mobile robot field, intelligently adapting to complicated outdoor environment and charging with some special accidence are its characters. In order to discover and deeply research all problems faced by wheeled mobile robot in outdoor environment, in this thesis, a MR experimental platform was constructed, and a C/S structure was built for tele-control of mobile robot; based on this platform, many autonomous behaviors was studied. Remarkably, a novelty strategy, achieved by FDD(fault detection and diagnosed) method, for robot autonomous monitor was presented, the robot running status and motion ability was refer to this monitor behavior.Above content was presented at six sections in this thesis.In chapter one, some typical problem and contemporary research status in outdoor MR was analyzed, the necessaries of this task was presented.In chapter two, on the base of study the characters of outdoor environment, the omni-mobile robot entity was configured generally. The robot control system was analyzed and optimized. Then, the aim to get the collection of MR's technical characters and implement in robot autonomous control design is realized.In chapter three, based on omni-mobile robot, a tele-control robot system structured as C/S was achieved. In this system, All modules'function and realize way were presented.In chapter four, based on behavior control architecture, the reality of MR's autonomous action ability was studied. A sketch of behavior control based on data fusion was accomplished. A new draft of robot behavior control system development following that the action behavior and monitor behavior was synchronic developed, was presented.In chapter five, based on FDD method, the feasible of this way implement in MR was analyzed, and based on the character of omni-mobile robot, a algorithm was designed for monitor behavior control.In chapter 6, a sum of this thesis was presented, some personal views of MR research are showed.As the work result, a necessity experiment platform was built up successfully, as the first step of outdoor mobile robot research, some basic action and monitor behavior was realized and proved feasible.