A mobile robot for service use: behaviour simulation system and intelligent control

摘要

The structure of hardware and software of AI control system of a mobile robot for service use are described. Hardware of the mobile robot described include an autonomous wheel vehicle and a five degree of freedom manipulator. The software of the AI control system is based on soft computing including fuzzy control rules, fuzzy neural network and genetic algorithms. The intelligent control of cooperative motion between the autonomous vehicle and manipulator realises flexible operations such as navigation of a mobile robot in presence of static and dynamic obstacles, processes of opening door in rooms and pushing buttons of an elevator. New hierarchical structure of the AI control system includes direct human-robot communication line based on natural language and cognitive graphics, and a generator of virtual reality for simulation of artificial life conditions for the mobile service robot. Simulation and experimental results of navigation and technical operations with the manipulator mobile service robot used in office building are described.