Research On Control System Of Mobile Robot In Intelligent Environment

With the application of information fusion technology in wireless sensor networks and the continuous evolution of human computer interaction, the intelligent environment has penetrated into our life with people’s demand for computing power and information services technology. Especially with the information interactive mode is changing from the external and mechanical interaction to the integration of artificial intelligence, it has step into a new era for human computer interaction, which means ambient intelligence to the popularity of the real closer. According to the feedback information of intelligent environment and services, as a mobile node in the intelligent environment, the mobile robot utilizes the smart space and its sensing system in motion planning, which accelerating the transformation of human computer interaction, and promoting the pervasive computing technology development.A differential drive wheeled mobile robot’s physical model is established on the basis of physical modeling, combining with the mobile robot kinematics model and dynamics, tested the performance of motion control of mobile robot in the way of simulation. And accorded to particle swarm intelligent algorithm, I optimized the driving motor controller in MATLAB. Through programming control, the simulation of the mobile robot is completed. Associating with MATLAB and the robot operation system, I simulated intelligent environment spatial information, through programming constructed intelligent virtual environment simulation platform in the gazebo platform. Taking advantage of the intelligent environment ability to expand robot perception space for draw a smart grid map of intelligent environment. And optimized the path control algorithm. Achieved the environment intelligent mobile robot motion control and data exchange through virtual robot in the intelligent simulation environment.Achieved the collaborative research of intelligent environment and motion control of mobile robot through the experiment, laid the foundation for the research of intelligent mobile robot environment and cooperative control, and verified the correctness of the control strategy.