移动机器人非视觉传感器及其信号处理方法

非视觉传感器是机器人认识和了解外部环境的重要途径，移动机器人常用的非视觉传感器包括超声、红外、接近传感器等．这些传感器大多是以环或阵列的形式出现，因此其信号处理往往要占用机器人大量的CPU时间．本文提出了一种采用多DSP控制和处理各类非视觉传感器的方法，给出了传感器信号处理的原理和具体实现．同时我们引入了并行处理的机制，各类传感器信号处理可同时进行，在很大程度上提高了机器人传感器信号处理的速度，有利于机器人在实时动态环境中运行．并给出了非视觉传感器信号处理的实验结果，验证了该方法的有效性．

NONVISUAL SENSOR AND ITS SIGNAL PROCESSING METHOD FOR A MOBILE ROBOT

Nonvisual sensors are essential and important for mobile robots. To recognize and understand the environment out of the robots themselves. The basic nonvisual sensors for wheeled mobile robots include sonar sensor, infrared sensor and tactile sensor. All these sensors are used in groups and their signal processing will occupy much CPU time. In this paper, we propose a multi-DSP-based system to control the sensors and process the corresponding feedback signals, thus the robot controller can be mainly used for its deliberative purpose, such as path planning and navigation. This paper presents the operation theory of signal processing for the above sensors respectively. Parallel processing methods are employed to accelerate the processing speed of the system. Experimental results show the effectiveness of the proposed method.