Abstract
In this thesis, a push-pull resonant converter is used to realize the wireless charging system, combined with wheeled robot. And the way of avoiding obstacle is artificial potential filed method. We used laser range finder to complete this avoiding obstacle function. The push-pull resonant converter makes the switch operate at zero voltage, which known as “Zero-Voltage Switching, ZVS”. When the switches operate under this condition, it can minimize the switching losses. The most common technique for achieving zero-voltage switching is to utilize the resonant phenomena. The resonant tank in the push-pull resonant converter has a very low series impedance, this can make the current(power) locked in the tank. However, the switching frequency has a great influence on the transfer efficiency. While the switching frequency is the same as the resonant frequency, the switching frequency would not reduce the power transfer. And the Mazzilli circuit utilize cross-coupled diode to control the switching frequency and the timing of closing the gate, without complicated active control circuit. The artificial potential filed method assumed that the environment is a virtual potential energy field. The target will generate an attractive potential field and obstacles will cause repulsive potential field to the robot. And the combination of attractive and repulsive potential field will determine the velocity of robot, making the robot move to the target and avoid the obstacles. The experiments include the simulation of wireless power transfer, wireless power transfer with bulb loadings, wireless charging of acid-lead battery, and the combination of obstacle avoidance and wireless charging, making the wheeled robot avoid obstacle and autodock in the garage for charging battery.