Restaurant Service Robot of Path Planning

• Main Authors: Wu, Zih-Yan, 吳治彥
• Other Authors: Tan, Chung-Ming
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/73461238619136885963

碩士 === 吳鳳科技大學 === 光機電暨材料研究所 === 99 === In this thesis we use the platform with two wheels of differential drive as the carrier of restaurant service robot, and utilize different methods to measure the travel path error of the robot so as to be the basis for control. First, without using SICK (SICK AG company, Germany) laser positioning system, we drove the robot to move in several preset paths using water dropping device to record the actual paths. Then the travel path errors can be obtained by afterwards calculation. Secondly, we use SICK laser positioning system to acquire the actual position of the robot and correct path to the coordinates preset. Path planning of the robot has been a line, circle, square and S-shaped paths. Control interface is written using Visual Basic 6.0. We can send control instructions by the RS232 to USB drive to do communication with the motor. In this manner, we make the robot walk along the preset paths with minimum errors. Keywords: Path error, Restaurant service robot, Differential drive,Path planning