Research And Implementation Of Path Planing For Mobile Robots Based On DXF Map

This topic for the factory-wide known environment development application in the background, on a mobile robot implementation based on prior map the path planning issues in-depth research, use the AutoCAD software the generated DXF file as a global map information, robot control system accurately read map information, and fast and accurate completion of tasks from an ad hoc jobs lujin planning strategy.First of all on the DXF file parsing, and in accordance with the principles of mobile robot common driver structure analysis modeling, select round wheeled robot as research objects, build a perfect route planning research system, based on prior maps respectively on global path planning exercise and multisensor local sports research and implementation, and to build its kinematics model. Global path motion control robot in a wide range of positioning within the known environment, by the author using the C++ language software to full read DXF file in two-dimensional environment information to ARM9 S3C2410) (as the core of the mobile robot control platform, run Win CE operating system. Via embedded software robot global path planning strategy.In robot during the move, the need to ensure that accurate movement of the robot and positioning, this article to step motor as robots, the use of Optical Encoder on robot motion detection, infrared and ultrasonic sensor switching obstacle avoidance of multi-sensor local path motion control. This policy enables mobile robots with high precision point-to-point motion control and autonomous navigation capabilities while addressing a large equipment product line of raw material delivery, finished storing the security on the job, effective reduce production accident.This topic select UP-VOYAGER-II autonomous mobile robots as a simulation platform, leveraging webots robots simulation software for simulation and robot work process simulation and animation, and then in UP-VOYAGER-II do not use any sensor, global path planning policy for verification. Results suggest that this article design of motion control strategy to better achieve the expected functionality, high stability and accuracy.