Abstract
In order to improve the ability of the spherical mobile robot to navigate and move autonomously in an unknown environment. This paper proposed a novel step optimal path planning method based on fuzzy control. Firstly, by analyzing the motion model of the spherical mobile robot, the arrangement and debugging of the ultrasonic sensors (HC-SR04) were completed. Then, through multi-sensor fusion technology and D-H parameter method, a fuzzy controller for the spherical mobile robot was designed. Finally, the proposed fuzzy control method was applied to the path planning of spherical mobile robot in unknown environment, and tested by a series of simulations and experiments. The results showed that the step optimal method based on fuzzy control could ensure that the spherical mobile robot completed the path planning. The experimental results also verified the effectiveness and practicability of the proposed novel path planning method.
Highlights
The true meaning of the autonomous navigation capability of robots is the ability to interact with the external environment [1]
After many experiments and error analysis, the experimental results further verified that the proposed algorithm could improve the autonomous motion ability of the spherical mobile robot in unknown environment
WORK To improve the ability of spherical mobile robot to navigate and move autonomously in an unknown environment, this paper proposed the step optimal path planning method based on fuzzy control
Summary
The true meaning of the autonomous navigation capability of robots is the ability to interact with the external environment [1]. An important aspect of this interaction is the ability to have global path planning, dynamic re-planning and obstacle avoidance in emergencies. The autonomous navigation capability improves the operational performance of robots, which facilitates better development and utilization of resources [2]. Countries are committed to the development of path planning technology, and new control methods and multi-functional robots are being born, and have achieved fruitful results. A. RELATED WORK Developed by the Swedish company Rotundus, the GroundBot spherical robot can adapt to various terrains, such as
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