基于激光传感器的机器人地图构建方法

针对自主移动机器人局部地图构建问题,分析了几种应用较广的测距传感器的优缺点和地图构建中使用的激光传感器的数学模型及其非线性问题.在给出局部地图构建的一般模型的基础上本文提出了一种机器人局部地图构建的一种新方法,该方法针对传感器数据的不确定问题采用加权最小二乘方法对机器人在导航过程中的局部地图进行构建,具有实现容易、精度较高等特点.仿真和实验结果表明该方法在移动机器人使用激光测距传感器进行环境建模和地图构建过程中可以有效的减小直线拟合误差,进而达到有效建图的目的.     

移动机器人超声波测距和避障系统的设计及实现

本文介绍了移动机器人的超声波测距和避障系统的设计方案,以及系统的软、硬件组成.该系统的硬件电路以DSP-TMS320LF2407A作为核心处理器,包括超声波测距模块,以及外围辅助电路.系统采用了多路超声波传感器共同作用来完成整个机器人系统的避障和路径规划.在移动机器人的360度的方向上等角度每隔45度安装1个超声波传感器,共8个.各个方向上的超声波传感器循环工作,使得移动机器人实时获取距障碍物的距离和方位信息.样车实验表明,该系统可以满足移动机器人室内避障的要求.     

基于门牌号识别的移动机器人全局自定位方法研究

提出了一种采用单目视觉和多超声传感器来识别门牌号的室内移动机器人全局自定位方法和导航策略。机器人通过搜索并识别走廊中各房间的门牌号码来实现自身的定位与导航。此外，给出了该导航系统的机器人控制体系结构。依据该体系结构，运用Hough变换，Randon变换和模板匹配等手段，给出了搜索策略及有关算法，主要包括门的定位与识别、图像的倾斜校正、图像分割以及门牌号的识别等。最后，利用我们自行设计和开发的CASIA-I移动机器人对所提出的导航策略和导航算法进行了实物实验验证。结果表明该导航策略是一种较为有效的方法。     

基于Kinect传感器的移动机器人环境检测及行为学习

研究了一种基于深度图像和强化学习算法的移动机器人导航行为学习方法。该方法利用机器人装配的Kinect传感器检测工作环境信息,然后对获取的深度图像数据和视频图像进行处理、融合和识别,并由此构建机器人任务学习的状态空间,最终利用强化学习方法实现移动机器人的导航任务的自学习。该方法的有效性通过实验得到验证。实验表明,该方法能够使机器入具有较强的环境感知能力,并能够通过自学习的方式掌握行为能力。     

运动学约束情况下的移动机器人导航控制研究

对未知环境下的移动机器人导航与避障进行了研究。在导航的过程中考虑了移动机器人的非完整运动学约束。机器人采用三个距离传感器从三个方向实时探测环境中的障碍,其运动方向根据目标位置和传感器的探测数据进行实时规划。在本文设计的一种新的导航控制作用下,机器人在满足运动学约束的情况下可以实时跟踪奔向目标行为和避悼行为规划的路径,以接近最优的轨迹避开环境中的障碍并到达目标。仿真结果表明了该方法的有效性。     

基于ROS的轮式移动机器人系统研究

本文目标旨在对一个基于ROS的移动机器人系统进行研究,利用ROS机器人操作系统来完成软件框架的功能实现。利用激光雷达传感器完成室内的地图构建和导航,这是一个具有实际应用价值的移动机器人平台,提供了一个标准的开放的移动机器人研究平台。     

高精度的超声波测距系统在移动机器人导航方面的应用

本文介绍一种用于移动机器人导航和避障的高精度的超声测距系统。该系统由AT89C51单片机、超声波发射电路、超声波接收放大电路、峰值时间检出点电路、环境温度采集电路构成,系统具有测量响应速度快、准确度高、性能价格比高等特点。     

基于超声波传感器的移动机器人避障系统研究

针对移动机器人移动过程中会遇到各种障碍物并需要合理地避开,以移动机器人为平台,利用超声测距原理,以51单片机为核心设计硬件电路,设计了一种基于超声传感器的移动机器人避障控制系统.利用单片机对超声波传感器采集到的环境信息进行存储处理,特别是在避障系统控制算法设计基础上引入模糊控制理论,设计模糊控制器,并且利用Matlab软件对模糊控制器进行了仿真验证.     

轮式移动机器人自主导航计量评价现状

自主导航是评价轮式移动机器人智能化程度的核心指标,但是目前轮式移动机器人自主导航性能的计量评价仍处于起步阶段,计量评价指标体系和评价方法严重缺失.本文介绍了现有轮式移动机器人自主导航的架构及路径规划算法,分析了轮式移动机器人自主导航的性能指标,归纳国内外轮式移动机器人自主导航计量评价领域的研究现状.在此基础上,总结轮式...     

基于双探测技术的室内灯光实时控制系统设计

提出了一种采用双探测技术的室内灯光实时控制系统设计方案，利用超声波传感器和红外传感器，实现了对室内灯光的实时控制及室内人数自动统计。实验及应用结果表明，基于双探测技术的室内灯光实时控制系统有效地解决了单探测技术误报率高的缺点，具有较高的可靠性，并且使用方便、节省能源。     

Sagnac-type fiber-optic array sensor for detection of bulk ultrasonic waves

In this paper, we describe a fiber optic array sensor suitable for detection of bulk ultrasonic waves. This sensor is based on an intrinsic fiber optic Sagnac interferometer. The fiber array is formed by multiple folding of a continuous length of an optical fiber into flat coils. Depending on the orientation of the fiber array with respect to the ultrasonic wave, the proposed sensor can act as a conventional in-phase detector or as a narrowband detector. In the narrowband mode, the center frequency of detection can be tuned by adjusting the spacing of the fiber array elements to be equal to the ultrasonic wavelength of interest. This feature distinguishes this array sensor from conventional hydrophones in which a receiver is typically much smaller than the acoustical wavelength. It is shown that the array sensor provides an enhanced signal-to-noise ratio (SNR) compared with a single element detection scheme. Results are presented for detection of ultrasonic waves in water arising from both piezoelectric and laser ultrasonic sources. Potential areas of application of this sensor include process monitoring, smart structures, bio-medical ultrasound, and chemical sensing.     

A New Multifunctional Sensor Using Piezoelectric Ceramic Transducers for Simultaneous Measurements of Propagation Time and Electrical Conductance

The aim of this paper is to develop a system for reconstructing an image of two parameters, e.g., temperature and body composition, in the same region of a living body. In this paper, a new multifunctional sensor for simultaneous measurements of the ultrasonic and electrical properties of an object is proposed. The proposed sensor, which uses a pair of piezoelectric ceramic transducers, measures not only the ultrasonic property of the object but also its electrical property by using the surface electrodes of each piezoelectric ceramic transducer. In the experiment, the propagation time and conductance of a simple cell model for the living body are simultaneously measured by the proposed sensor. The sodium chloride (NaCl) concentration, which is the composition that determines the conductivity of the model, and temperature are estimated from the measurements. It was found that the ultrasonic and electrical properties could simultaneously be measured. In addition, two parameters of the model could be estimated from these measured values. Therefore, it is suggested that the proposed sensor has the potential for application, although there are some problems that must be solved.     

Measurement of low-frequency ultrasonic wave in water using an acoustic fiber sensor.

An acoustic fiber sensor for measurement of ultrasonic waves, which used the approximate Raman-Nath diffraction effect where light diffraction waves were generated in an optical fiber by strain due to the ultrasonic waves, was proposed and examined. In order to characterize the acoustic fiber sensor as a basic study, measurements of low-frequency ultrasonic waves in water were examined using a step index fiber operating as a detection sensor. The results showed that characteristics of detected signals agreed with the theoretical prediction based on Fraunhofer diffraction. This indicates that our proposed fiber sensor can be used for the detection of low-frequency ultrasonic waves as well as the transmission of light diffraction signals.     

Measurement of low-frequency ultrasonic wave in water using an acoustic fiber

An acoustic fiber sensor for measurement of ultrasonic waves, which used the approximate Raman-Nath diffraction effect where light diffraction waves were generated in an optical fiber by strain due to the ultrasonic waves, was proposed and examined. In order to characterize the acoustic fiber sensor as a basic study, measurements of low-frequency ultrasonic waves in water were examined using a step index fiber operating as a detection sensor. The results showed that characteristics of detected signals agreed with the theoretical prediction based on Fraunhofer diffraction. This indicates that our proposed fiber sensor can be used for the detection of low-frequency ultrasonic waves as well as the transmission of light diffraction signals.     

基于超声波电机的移动焊接机器人焊枪精密定位控制系统研制

为了实现移动焊接机器人焊枪的精密定位控制,提出了焊枪跟踪控制时基于调整电机微步导通时间实现无位置传感器开环精密定位控制的控制系统设计方法.在控制系统设计中充分利用EDA和单片机技术各自的优点,采用CPLD和单片机相结合,实现了双行波超声波电机微步控制.实验证明该控制器可控精度高、可靠稳定、可维护性强,不需要高精度位移传感器就可控制焊枪达到很高的定位精度.研究所得的方法和结论具有较强的通用性,在基于环形行波超声波电机驱动的XY平面精密定位控制中具有普遍的应用意义.     

Local measurement validation for an intelligent chirped-FMultrasonic range sensor

An important intelligent functionality for improving measurement systems is the validation of the returned information. To obtain this validation at the sensor level, it is essential that the sensor produces additional information for this purpose. This aspect follows directly from the measurement method. In this article, we apply these ideas to an ultrasonic range finding sensor dedicated to the navigation of a mobile robot. The original measurement method proposed, based on a modulated emission, provides many configuration parameters influencing the accuracy and detection performances, and two measured parameters linked to the distance to the obstacle. The redundancy between these two parameters allow building a local index of validity of the measured distance. The analog-digital implementation of this measurement method using a microprocessor board 80C196 provides easy observation and adjustment of all the considered parameters. In particular, the theoretical and experimental study of the measurement method configuration parameters leads to a sensor configuration model, whose input is the expected range, and whose output is the set of optimal values of configuration parameters in the sense of a maximal validity index     

Compact and high-precision range finder with wide dynamic range andits application

Described is a new range finder using a self-mixing laser diode (SM-LD). The range finder has a high accuracy of ±0.15% and a wide dynamic range of 0.2-1 m using only one sensor head. Compared to ultrasonic range finders, the light beam of this laser range finder can be focused and scanned. The feasibility study shows a possible application of the range finder to a visual sensor of a robot. The proposed range finder has been successfully applied as an infrared (IR) active type range finder of a single-lens reflex camera     

Vehicle Localization Using Sensors Data Fusion Via Integration of Covariance Intersection and Interval Analysis

Achieving an innovative integrated sensor fusion architecture with a robust vehicle navigation and localization using an extended Kalman filter, interval analysis and covariance intersection that can overcome the uncertainty in the system model and sensor noise statistics. There are various approaches to the problem, but here the focus is on an approach which can guaranteed performance of sensor-based navigation. The guaranteed performance is quantified by explicit bounds of position estimate of a ground vehicle. Ground vehicles generally carry dead reckoning sensors such as wheel encoders and inertial sensors, to measure acceleration and angle rate, while obstacle detection and mapmaking is done with time-of-flight ultrasonic sensors. Most of these sensors give overlapping or complementary information and sometimes are redundant as well, which offers scope for exploiting data fusion. The purpose here is to achieve data fusion for ground vehicles with low-cost sensors by forming an intelligent sensor system. This is accomplished by combining the sensors' measurements and processing these measurements with data fusion algorithms. The algorithms are complementary in the sense that they compensate for each other's limitations, so that the resulting performance of the sensor system is better than its individual components.     

基于组合方式的掘进机导航系统研究

掘进机时走时停的迈步式工作特点导致其难以实现定向掘进,这一直是国内外面临的技术难题。为实现煤矿巷道掘进机的位姿测量,提出一种基于组合方式的掘进机导航系统（即组合导航系统）。首先,以十字激光指向仪的激光束为识别特征,结合自主研制的激光接收标靶,组建光电传感器导航系统,并构建掘进机机身位姿解算模型;然后,通过递推最小二乘（recursive least square, RLS）算法将光电传感器导航系统和光纤惯性导航系统的测量数据融合,解算出掘进机机身的位姿;最后,根据掘进机机身位姿的测量结果,通过PLC(programmable logic controller,可编程逻辑控制器)实现掘进机的纠偏控制,以有效解决其定向掘进问题。以MB670型掘锚一体机为实验对象,通过现场实验对所设计的组合导航系统进行测量误差分析。结果表明：该组合导航系统可以有效实现煤矿巷道掘进机机身的位姿测量;掘进机机身的位置测量误差在±20 mm以内,姿态角测量误差在±0.15°以内,满足煤矿巷道施工精度要求。基于组合方式的掘进机导航系统具有精度高、可靠性好的优点,弥补了单一导航系统的测量缺陷,可为掘进机的定向掘进智能...