Research on Path Planning of Intelligent Plant Inspection Robot

Research on Path Planning of Intelligent Plant Inspection Robot

To enhance the accuracy of mobile robot inspecting in Intelligent Plant, a path planning method for mobile robots combining with indoor GPS positioning and fuzzy algorithm is presented. The method utilized the transmitter at the top of the robot to emit infrared signal, and the trilateration principle to calculate the robot’s real time position. Meanwhile, the ultrasonic sensor on the base of mobile robot detected the environment and obtained the obstacle’s location information, using fuzzy reasoning. Then the fuzzy rules were established and calculated to build the local path planning graph of robot’s movement, and to achieve the robot’s dynamic obstacle avoidance. The experimental results show that the proposed method can achieve centimeter-level positioning accuracy, and the robot can avoid the dynamic obstacles in the environment sensitively, so as to accomplish the path planning more effectively.