基于多传感器的家庭服务机器人局部导航方法研究

本文提出了一种基于多传感器的家庭服务机器人局部导航方法。首先,采用单个摄像头获取居室内障碍物的图像信息,利用超声波传感器和红外线传感器探测障碍物的距离信息。然后,据此计算在机器人运动方向上障碍物的遮挡空间或者多个障碍物之间的实际距离,再根据机器人自身的大小计算避开障碍物应该转动的方向及角度,从而实现居室内的自主导航。最后,仿真实验结果证明了该方法的有效性。

A Local-Navigation Algorithm Based on Multi-Sensors for a Home Service Robot

Through the research of the robot navigation in indoor environment, a multi sensors- based obstacle avoidance algorithm is presented in this paper. Since a CCD can not get the 3D information, the approach uses the image information from a CCD camera and the space information from a ultrasonic sensor and a infrared sensor to calculate the real sizes of the obstacles and the spaces between them. And then, using the size of the robot calculates the angle and the direction to be turned. The simulation results in the various lighting condition in indoor environments prove that the algorithm is effect and robust.