摘要移动机器人的路径规划作为自主式移动机器人技术的一个重要组成部分，是研究移动机器人技术较为活跃的课题之一，吸引了国内外的大量科研人员。我国在智能移动机器人研究领域虽然已经取得了一定的成绩，如地面自主导航车、水下自主机器人和飞行机器人等。但因为起步较晚，在理论和技术应用方面都落后于一些西方国家，而且在实用性方面还有欠缺。而导盲机器人作为移动机器人的一种，研究其避障和路径规划，具有一定的理论和工程应用意义。本文设计了一种基于MSP430单片机控制的具有避障和路径规划功能的导盲机器人。导盲机器人的设计目的在于辅助视力障碍者在室内行走及寻物，并增强视力障碍者的环境适应性，使人-机-室内环境之间保持更加良好的交互性。首先从导盲机器人的历史和现状出发，对比了国内外的不同发展状况，对导盲机器人领域的研究方向进行了综述。51585

本文重点在导盲机器人的避障和路径规划设计，大概介绍了RFID、超声波、语音和MSP430单片机的型号及应用，重点介绍了路径规划的定位、环境地图创建和A*算法，并对导盲机器人路径规划中常用的方法，栅格法、A*算法等进行了逐一的分析阐述。

毕业论文关键字：RFID；路径规划；MSP430；A*算法；避障。

Abstract To be a important component of the independent -like migration robot technology, the motion robot way plan is one of more active topics of motion robot technology and has attracted large quantities of the domestic and foreign research scholar. Although our country had already made certain progress in intelligent migration robot research aspect, such as ground autonomous navigation vehicle, submarine independent robot and flight robot and so on .But it starts late, it falls behind some Western country in the application aspect and has not achieved completely usability. The seeing-eye  robot  as a kind of mobile robot is research in obstacle avoidance and path planning, which has certain theory and project application significance. Seeing eyes robot is designed to assist visually impaired people to walk in the room and look for things, and enhance the environmental adaptability of the visually impaired people to maintain a more favorable interaction between the people-machine- indoor environment. Firstly, from the history and the present situation of moved robot ，comparing the domestic and foreign different development condition , it starts the summary from the research direction of migration robot. 

The paper focus on design of the seeing eyes robot’s obstacle avoidance and path planning. It describes the model and application of RFID, ultrasound, voice and MSP430, and RFID, voice, ultrasonic technology. The emphasis introduces location of path planning, creation of map of the environment and algorithms, and carry on the analysis elaboration one by one to the grid law, the A* algorithm and so on.

Keyword: RFID; path planning; MSP430; A* algorithm; obstacle avoidance.

目  录

第一章  绪论 1

1.1 研究意义和应用前景 1

1.2 国内外的发展情况 1

1.2.1 电子式行进辅具 1

1.2.2 手杖式行进辅具 2

1.2.3 穿戴式行进辅具 2

1.2.4 移动式导盲机器人 2

1.2.5 国内研究现状 3

1.3 导盲机器人的发展趋势 3

1.4 论文主要研究内容 4

1.5 本章小结