基于AS-UII的機器人吸塵器的研究與設計 摘要：家用清潔機器人是當今服務機器人領域一個熱門的研究方向。雖然已有很多樣機和產品產生，但它們仍有很多的問題需解決：如動態環境中的適應性，它的覆蓋率和蓋效率及其成本等。吸塵器自主地在房間內吸塵而不需主人太多的干預是一件非常有挑戰性的工作，它涉及了當前多項人工智能技術，從理論和技術上講，全自主智能吸塵器比較具體地體現了移動機器人的多項關鍵技術，具有較強的代表性．從市場前景角度講，全自主吸塵器將大大降低勞動強度、提高勞動效率，適用于賓館、酒店、圖書館、辦公場所和家庭。因此開發自主智能吸塵器既具有科研上的挑戰性又具有廣闊的市場前景。 本設計采用廣茂達公司的能力風暴機器人AS-UII設計智能吸塵器，完成了對機器人工作原理與結構的研究，設計了機器人的行走策略并設計算法以及設計智能吸塵器的硬件。本設計利用能力風暴機器人設計吸塵器，對吸塵機器人的路徑規劃和行走策略進行了探究，并注重相應算法的實現。 本設計利用能力風暴機器人支持多任務執行的優點，設計出了在同一時刻能執行多種任務的程序，這能大大提高系統的實時性，使機器人能及時處理各種輸入信號。 關鍵字：機器人；吸塵器；行走策略；路徑規劃 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
