Performance Analysis And Motion Planning Research Of Domestic Cleaning Robot

Domestic autonomous mobile cleaning robot is a typical representative of the home service robot, its advent and popularity will lay a good foundation for the promotion of the home service robot. The domestic autonomous mobile robot will play an important role in an aging society which will happen in the future, so developing such a kind of robot has far-reaching significance.In this paper, a further study was done on the robot system and its path planning based on the existing domestic cleaning robot, this thesis firstly did comparison and analysis of the existing domestic cleaning robot in order to determining the focus and research direction of this paper. The function of the mechanical system was improved based on the analysis of the mechanical system of the existing domestic cleaning robot. Most existing robot can only realize the function of dust absorption, improved robot was added a new function-mopping.The method of path planning for domestic cleaning robot was improved in this paper, firstly, an intelligent vacuum cleaner sold in the market was chosen as a research object. Detailed analysis for the method of path planning was done, combined with the traditional path planning method which was proposed in this paper, a new method-modified template method was proposed for solving the problem of complete coverage path planning.In order to verifying the improved template algorithm, this paper used the universal robot simulation software RobotBASIC, in the simulation process, detailed comparison and analysis had been made for the existing algorithm of complete coverage path planning, and the simulation analysis was focused on improved template algorithm, the improved algorithm proved to be feasible both in a static and dynamic environment according to the simulation results.Finally, the corresponding sensors were installed on the research object, then the hardware platform could be built completely, and the algorithm was transplanted into single-chip, the method of path planning for the robot was studied, and the problems found in the cleaning process were analyzed and improved, the experimental results showed that the algorithm was feasible, and had some features such as:simple, easy to realize.