Design and Path Planning for a Remote-Brained Service Robot

This paper presents a novel robot named "TUT03-A" with expert systems, speech interaction, vision systems etc. based on remote-brained approach. The robot is designed to have the brain and body separated. There is a cerebellum in the body. The brain with the expert systems is in charge of decision and the cerebellum control motion of the body. The brain-body interface has many kinds of structure. It enables a brain to control one or more cerebellums. The brain controls all modules in the system and coordinates their work. The framework of the robot allows us to carry out different kinds of robotics research in an environment that can be shared and inherited over generations. Then we discuss the path planning method for the robot based on ant colony algorithm. The mathematical model is established and the algorithm is achieved with the Starlogo simulating environment. The simulation result shows that it has strong robustness and eligible path finding efficiency.

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