基于AS-UII的机器人吸尘器的研究与设计
摘要：家用清洁机器人是当今服务机器人领域一个热门的研究方向。虽然已有很多样机和产品产生，但它们仍有很多的问题需解决：如动态环境中的适应性，它的覆盖率和盖效率及其成本等。吸尘器自主地在房间内吸尘而不需主人太多的干预是一件非常有挑战性的工作，它涉及了当前多项人工智能技术，从理论和技术上讲，全自主智能吸尘器比较具体地体现了移动机器人的多项关键技术，具有较强的代表性．从市场前景角度讲，全自主吸尘器将大大降低劳动强度、提高劳动效率，适用于宾馆、酒店、图书馆、办公场所和家庭。因此开发自主智能吸尘器既具有科研上的挑战性又具有广阔的市场前景。 本设计采用广茂达公司的能力风暴机器人AS-UII设计智能吸尘器，完成了对机器人工作原理与结构的研究，设计了机器人的行走策略并设计算法以及设计智能吸尘器的硬件。本设计利用能力风暴机器人设计吸尘器，对吸尘机器人的路径规划和行走策略进行了探究，并注重相应算法的实现。
本设计利用能力风暴机器人支持多任务执行的优点，设计出了在同一时刻能执行多种任务的程序，这能大大提高系统的实时性，使机器人能及时处理各种输入信号。
关键字：机器人；吸尘器；行走策略；路径规划
The research and design of cleaning robot based on AS-UII robot
Abstract:Full autonomous cleaner is hot in the field of mobile robot. Though many prototypes and products have been manufactured,they stil1 have many problems to be solved，such as adaptability in dynamic environments,coverage ratio＆efficiency and its cost. To clean in a room without the help of the hosts,it is a challenging task for autonomous cleaner because it involves many current AI technologies. In the view of theory and technology,full autonomous eleaner was app]ied many key technology for mobile robot. They can reduce burden of housework and improve efficiency and are very suitable for using in hotel,hospitallibrary,office and home. Therefore,it is a challenge in scientific research and commerce．
The design of Intelligent robot vacuum cleaner was based on the Grandar company's ability storm robot AS-UII. It completed works on the theory and the structure of robot and design the robot’s walking strategyalgorithms and the robot’s hardware. The vacuum cleaner was designed by using the ability storm robot,and it mainly explores the path planning and walking exploration strategy of cleaning robot and focuses on the realization of the corresponding algorithms.
This design uses the robot’s advantage of supporting the multi-task execution to design the program of processing a variety of missions at the same time. This can greatly increase the system's real-time. Thus the robot can handle a variety of input signals in time.
Keywords: robot; vacuum cleaner; walking exploration strategy; path planning
