Design and path planning for a remote-brained service robot

Authors:
Shigang Cui;Xuelian Xu;Zhengguang Lian;Li Zhao;Zhigang Bing
Affiliations:
Institute of Semiconductors, CAS, Beijing, China;Tianjin University of Technology and Education, Tianjin, China;Tianjin University of Technology and Education, Tianjin, China;Tianjin University of Technology and Education, Tianjin, China;Tianjin University of Technology and Education, Tianjin, China
Venue:
LSMS'07 Proceedings of the 2007 international conference on Life System Modeling and Simulation
Year:
2007

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Abstract

This article introduced an effective design method of robot called remote-brain, which is made the brain and body separated. It leaves the brain in the mother environment, by which we mean the environment in which the brain's software is developed, and talks with its body by wireless links. It also presents a real robot TUT06-B based on this method which has human-machine interaction, vision systems, manipulator etc. Then it discussed the path planning method for the robot based on ant colony algorithm in details, especially the Ant-cycle model. And it also analyzed the parameter of the algorithm which can affect the convergence. Finally, it gives the program flow chat of this algorithm.