移动机器人分布式超声探测系统设计

设计制作了一种基于多处理器的移动机器人分布式超声环境探测系统.该系统由上位工作模式控制模块和下位智能超声传感器阵列组成.下位智能超声传感器选用收发一体式超声传感器,每个传感器均由独立的微处理器控制,完成实时数据处理、抗干扰处理、故障报警以及并行数据通信等功能.上位工作模式控制模块可以根据不同的控制策略,使下位传感器阵列采用“阈值比较法”和“改进型递推均值滤波”算法及EERUF方法并行循环工作模式,实现不同方向传感器分组并行工作,提高了探测的实时性和准确性,以及对移动机器人控制的鲁棒性.仿真和实验的结果都验证了该系统的可靠性和有效性.

A new distributed real-time ultrasonic detecting system for autonomous mobile robot based on multi-processor is designed and manufactured. This system consists ofa super workmethod controlling module andan intelligentultrasonic sensor array acted as the subsystem. In the sensor array, each sensor is controlled by an individual micro-processor which achieves the functions such as real-time data processing, interference rejecting, malfunction alarm, parallel communi- cation, and etc. Based on different controlling strategies, the super work method controlling module decides the sensors at different sides can be grouped to work in parallel way. In this system, data processing adopts "threshold comparison", "improved datashift average filter" and EERUF methods. These methods improved the real-time, precision performance of the system, and robust performance of mobile robot controlling. The simulation and experiment results show the pro- posed system has high validity and reliability.

中科院沈阳自动化所机器人学研究室资助项目(RL200202)