System Design And Intelligent Obstacle Avoidance Research Of Cleaning Robot

Intelligent cleaning robot using multiple artificial intelligence technologies is also called autonomous cleaner. It is widely applied to housecleaning, hotel and office for cleaning in a half-autonomous way or omni-autonomous way. In recent years, it has brought increasing attention in overseas and domestic, and it has become a new development area in the field of service robots. Although the research works of motion structure, control system and dust collection system for cleaning robot have had good foundation, there are many works to do in the research of the obstacle detection, autonomous obstacle avoidance and path planning for enhancing the autonomous degree and cleaning efficiency.This thesis proposes the design of an intelligent cleaning robot, and then develops the obstacle avoidance strategies based on the fuzzy logic. According to the information of obstacles from the sensor system, the obstacle avoidance system is built by the fuzzy control method to make the cleaning robot avoid the obstacles autonomously.The whole structure of the cleaning robot, the design method of the moving mechanism, sensor system and dust collection system of the robot are developed. We also analyze the function and principle of every detection unit of the sensor system, and finish the design of the system circuits of the robot. Based on the information of multi-sensors, the fuzzy control strategies where the orientation and distance of obstacles are taken as the input fuzzy variables and the turning angle of the robot is taken as the output fuzzy variable, are developed according to the characteristic of the obstacle avoidance behaviors of the robot.Furthermore, the fuzzy obstacle avoidance system is analyzed by the fuzzy logic toolbox in Matlab. Finally, we program with C language to complete the design of the software, and finish the experiments of the obstacle avoidance with the roam mode. As a result, it achieves the anticipative purpose.In the end, the results and conclusions of this thesis are summarized, and the prospect of further research on this cleaning robot is opened up.