基于声纳环传感器的机器人避障研究

任何一种移动机器人要实现未知环境自主导航都必须有效而可靠地感知环境信息,而超声波传感器在检测障碍物距离信息方面应用十分广泛。介绍了旅行家II号声纳环传感系统的设计与实现原理,并对声纳的精度进行了测试。在此基础上,提出了移动机器人一种简单避障策略,并运用2种基本避障实验:静态避障和动态避障,验证了该避障策略的正确性和有效性。

Study on robot obstacle avoidance based on sonar ring sensor

Any robot aiming to achieve autonomous navigation in unknown environment must effectively and reliably perceive environmental information,and ultrasonic wave sensor plays a wide role in detecting obstacles distance information.Design and implementation principle of the sonar ring sensor system of travels II is introduced,and the precision of sonar is test.On the basis of these,a simple mobile robot obstacle avoidance strategy is proposed,and two basic static and dynamic obstacle avoidance experiments are used.The experiments verify the correctness and effectiveness of obstacle avoidance strategy.