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| 基于单超声波传感器的移动机器人沿墙导航策略 | |
| 引用本文： | 华亮,冯浩,顾菊平,张建生.基于单超声波传感器的移动机器人沿墙导航策略[J].工程设计学报,2008,15(3):206-212. |
| 作者姓名： | 华亮 冯浩 顾菊平 张建生 |
| 作者单位： | 1. 南通大学,电气工程学院,江苏,南通226019;浙江工业大学,智能信息研究所,浙江,杭州310032 2. 浙江工业大学,智能信息研究所,浙江,杭州310032 3. 南通大学,电气工程学院,江苏,南通226019 4. 常州工学院,电子信息与电气工程学院,江苏,常州213002 |
| 基金项目： | 江苏省南通市应用研究计划项目 |
| 摘 要： | 对基于单超声波传感器的移动机器人沿墙导航中的关键问题进行理论和实验研究,在几何分析的基础上提出并解决了采用单超声波传感器进行沿墙导航时的约束问题.此外,还提出一种自调整沿墙导航策略,该方法采用旋转式单超声波传感器实现了移动机器人精确的沿墙导航.经实验验证,提出的方法简便有效、可靠性高,具有普遍的应用意义和较高的应用价值. |
| 关 键 词： | 移动机器人 超声波传感器 沿墙导航策略 几何分析 |
Wall following navigation strategy for mobile robot using single ultrasonic sensor |
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| HUA Liang,FENG Hao,GU Ju-ping,ZHANG Jian-sheng.Wall following navigation strategy for mobile robot using single ultrasonic sensor[J].Journal of Engineering Design,2008,15(3):206-212. | |
| Authors: | HUA Liang FENG Hao GU Ju-ping ZHANG Jian-sheng |
| Affiliation: | 1.School of Electrical Engineering, Nantong University, Nantong 226019, China; 2. Research Institute of Intelligent Information System, Zhejiang University of Technology, Hangzhou 310014, China; 3.School of Electronic Information &; Electric Engineering, Changzhou Institute of Technology, Changzhou 213002, China |
| Abstract: | Theoretical and experimental research on the existing key problems in wall-follwing strategies using single ultrasonic sensor was carried out. On the basis of geometric analysis, the constraint problem of wall-following navigation using single ultrasonic sensor was proposed and then sloved. Furthermore, a self-adjusting wall-following using single rotary ultrasonic sensor to implement precise wall-following navigation of mobile robot was put forward. Testified by experiments, the proposed method is effective, convenient and highly reliable. And it has general application significance and wide application prospect. |
| Keywords: | mobile robot ultrasonic sensor wall-following strategy geometry analysis |
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