The investigation of an autonomous intelligent mobile robot system for indoor environment navigation

摘要

The autonomous mobile robotics system designed and implemented for indoor environment navigation rnis a nonholonomic differential drive system with two driving wheels mounted on the same axis driven by two PID rncontrolled motors and two caster wheels mounted in the front and back respectively. It is furnished with multiple rnkinds of sensors such as IR detectors, ultrasonic sensors, laser line generators and cameras, constituting a perrnceiving system for exploring its surroundings. Its computation source is a simultaneously running system comrnposed of multiprocessor with multitask and multiprocessing programming. Hybrid control architecture is emrnployed on the mobile robot to perform complex tasks. The mobile robot system is implemented at the Center for rnIntelligent Design, Automation and Manufacturing of City University of Hong Kong.