基于声纳的移动机器人沿墙导航控制  

Wall following Navigation Control for a Sonar based Mobile Robot

作　　者：王栋耀[1] 马旭东[1] 戴先中[1] 

机构地区：[1]东南大学自动控制系,江苏南京210096

出　　处：《机器人》2004年第4期346-350,356,共6页Robot

基　　金：国家 8 63计划资助项目 (2 0 0 1AA42 2 2 60 )

摘　　要：针对移动机器人提出了一种沿墙导航控制算法 .算法首先对室内环境中墙的形状进行分类 ,并针对每一类型的墙设计相应的控制策略 .然后在移动机器人运动过程中 ,基于有限状态机实现移动机器人沿墙状态的转移 ,从而使移动机器人采用不同的控制策略控制其运动 .文中利用Pioneer 2DX移动机器人对此算法进行了实验研究 。In this paper, an algorithm is proposed for mobile robot to follow walls. Firstly the wall shapes of the indoor environment are classified into different types for which wall following strategies are designed respectively. When the mobile robot moves, the wall following status changes, based on Finite State Machine (FSM), then the corresponding wall following strategy is chosen to control the mobile robot. Experiments on the Pioneer 2DX mobile robot are conducted to evaluate the performance of the algorithm, and good results are obtained.

关 键 词：移动机器人 声纳传感器 有限状态机 沿墙导航 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]