机器人沿墙声纳导航的研究

为实现机器人的室内导航,本文提出了一种基于声纳传感器的沿墙导航方法。算法对室内典型结构和机器人可能存在的状态进行了建模,通过声纳传感器阵列所获知的外部数据判断机器人当前状态,应用有限状态机实现了机器人各种运行状态的相互转移。实验结果表明,该方法可以有效地应用于机器人室内导航,对各种室内典型结构的组合、变换具有较高的适应性。

Research on Wall-following Navigation Algorithm for Mobile Robot

In order to realize mobile robot's navigation in indoor environment, this paper proposes an algorithm to follow walls based on sonar readings. Firstly the typical examples of indoor environment are classified, most possible status are constructed. The robot's status can be detected by the sonar array readings, and the relations between different statuses can be translated by a finite state machine. Experimental results show that the algorithm has a good validity and robustness in wall-following navigation.