基于单超声波传感器的移动机器人沿墙导航策略  

Wall following navigation strategy for mobile robot using single ultrasonic sensor

作　　者：华亮[1] 冯浩[2] 顾菊平[1] 张建生[3] 

机构地区：[1]南通大学电气工程学院,江苏南通226019 [2]浙江工业大学智能信息研究所,浙江杭州310032 [3]常州工学院电子信息与电气工程学院,江苏常州213002

出　　处：《工程设计学报》2008年第3期206-212,共7页Chinese Journal of Engineering Design

基　　金：南通市应用研究计划项目(K2007023)

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.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.

关 键 词：移动机器人 超声波传感器 沿墙导航策略 几何分析 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]