复合机构移动机器人红外和超声阵列信息处理方法

传感器是移动机器人认识和了解外部环境的重要途径。在导航过程中,移动机器人要对当前环境进行实时感知和快速理解,并加以识别从而准确避开障碍物。论文提出一种适用于复合机构移动机器人的红外阵列和超声阵列传感器信息采集和处理方法。结合笔者研制的“基于复合机构的非结构环境移动机器人”,给出了系统具体的软、硬件的设计和局部路径规划实现方法。实验验证了该方法的可靠性和有效性。

Sensors are essential and important for mobile robots.They deal with the observation of the world outside the robot itself.During the navigation process,it is very important to apperceive and comprehend the environment to avoid the obstacle.This paper presents an infrared sensors array and ultrasonic sensors array information acquiring and processing system for mobile robot based on DSP.Combined together with study of "Mobile Robot in Unstructured Envi-ronment Based on Combined Mechanism",the paper particularly describes the overall structure scheme,hardware and software for the system.Finally,some local path planning experiments are made,the experimental results show this system has high validity and reliability.

国家863高技术研究发展计划(编号:2001AA422340,2002AA422160)