基于超声的非完整移动机器人避障控制  

Obstacle avoidance control for nonholonomic mobile robots based on ultrasonic sensors

作　　者：廖勤武[1] 王朝立[1] 梅迎春[1] 

机构地区：[1]上海理工大学光电信息与计算机工程学院,上海200093

出　　处：《上海理工大学学报》2009年第4期402-405,共4页Journal of University of Shanghai For Science and Technology

基　　金：国家自然科学基金资助项目(60474009);上海市曙光计划(05SG48);上海市教委科研基金资助项目(F07zz90)

摘　　要：介绍了路径规划的发展状况,并对非完整移动机器人的模型进行了讨论.为实现非完整移动机器人的自主避障,给出了移动机器人的超声定位结构,并提出一种基于超声避障的控制策略,对不同方向上的障碍作不同的考虑,突出正前方的障碍.将避障策略应用于实验平台,结果表明,移动机器人能在布满障碍的环境中有效实现避碰.The development in path planning and the model of nonholonomic mobile robot were introduced. The architecture of ultrasonic sensors location was discussed in order to realize the obstacle avoidance for mobile robot. A control strategy based on ultrasonic sensors was presented. Obstacles in different directions were taken into consideration, especially standing out the obstacle in front. The experiment results verify the effectiveness of obstacle avoidance in the environment full of obstacles.

关 键 词：非完整移动机器人 避障 超声定位 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]