基于粒子群优化的吸尘器智能避障研究  

A Vacuum Cleaner Intelligent Obstacle Avoidance Research Based on PSO

作　　者：刘建芳[1] 褚龙现[1] 

机构地区：[1]平顶山学院,河南平顶山467000

出　　处：《计算机测量与控制》2013年第12期3343-3345,共3页Computer Measurement &Control

基　　金：河南省科技计划发展计划(112102210332);河南省教育厅自然科学研究计划(2010C520010)

摘　　要：智能吸尘器工作在室内,障碍物与环境呈现非结构性,智能吸尘器与障碍物的底部距离不一,经常出现智能吸尘器在障碍物处被卡死的状态;提出一种基于粒子群优化路径选择的智能吸尘器避障方法,将多传感器的信息进行融合后,对障碍物的距离进行拟合测量,使用红外线透射的方法进行障碍物的判定,将传感器的信息进行一维编码后,使用粒子群优化寻找最优的避障路径;实际的测试证明,这种技术可以使吸尘器有效避开不同的形状与高度的障碍物,具有良好的稳定性。Intelligent cleaner work in indoor,obstacles and environment present unstructured,intelligent cleaner and the bottom of the obstacle distance is differ,often appear intelligent cleaner in the obstacle place biocked in dead state.Proposed based on particle swarm optimization path choice of intelligent cleaner obstacle avoidance method,the multi-sensor information fusion,the distance to obstacles for fitting measurement,the use of infrared transmission method for the judgment of obstacles,the sensor information one-dimensional coding,using particle swarm optimization to find the optimal obstacle avoidance path.The actual test,this technique can make the vacuum cleaner effectively avoid different shapes with the height of the barrier,has a good stability.

关 键 词：智能吸尘器 粒子群优化 信息拟合 红外传感器 路径编码 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]