吸尘机器人系统设计与避障算法研究  

System design and obstacle avoidance algorithm research of vacuum cleaning robot

作　　者：潘永惠[1,2] 

机构地区：[1]江苏省信息融合软件工程技术研发中心,江苏无锡214405 [2]江阴职业技术学院,江苏无锡214405

出　　处：《电子技术应用》2013年第6期130-132,135,共4页Application of Electronic Technique

基　　金：江苏省自然基金项目(BK2012128);江苏省信息融合软件工程技术研究开发中心开放基金项目(SR-2011-03)

摘　　要：基于Cortex-M0微控制器设计超声波、红外和碰撞等多传感器硬件系统感知机器人工作环境,应用模糊神经网络对采集的数据进行信息融合处理,输出结果用来控制吸尘机器人的定位与避障。实验证明,多传感器硬件系统和基于模糊神经网络的避障算法大大提高了吸尘机器人的定位与避障精度,对不同的工作环境也具有良好的鲁棒性。Designing muhi-sensor hardware system based on Cortex-M0 controller, detecting the smwounding of vacuum clean- ing robot by sensor combination of ultrasonic, infrared, collision, etc., we proposed an information fusion algorithm based on fuzzy neural network to process the multi-sensor data. And the output result of fuzzy neural network is used to control the localization and obstacle avoidance of vacuum cleaning robot. The experimental results demonstrate that the multi-sensor hardware system and obstacle avoidance algorithm based on fuzzy neural network proposed in this paper can improve the localization and obstacle avo- dance accuracy of vacuum cleaning robot highly, which is robust for different working environment of vacuum cleaning robot.

关 键 词：吸尘机器人 系统设计 模糊神经网络 避障算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]