基于多传感器的移动小车循墙导航控制  

Wall-Following Navigation Control of Mobile Car Based on Multi-Sensor

作　　者：胡郑希 胡泊 HU Zhengxi HU Po(School of Electrical and Information Engineering, Anhui University of Technology, Maanshan 243000, China Tongling Litu Electromechanical Technology Co. ,Ltd. ,Tongling 244000,China)

机构地区：[1]安徽工业大学电气与信息工程学院,安徽马鞍山243000 [2]铜陵力图机电科技有限公司,安徽铜陵244000

出　　处：《自动化仪表》2017年第6期40-45,共6页Process Automation Instrumentation

摘　　要：针对传统单传感器循墙移动小车存在控制精度不高、行走导航不稳定、控制程序算法繁杂的问题,提出了基于光电传感器、超声波传感器及光电测速码盘等多传感器组合的新型移动小车循墙导航控制方法。描述了移动小车系统结构、传感器设置,阐述了超声波传感器、光电传感器和光电测速码盘等的检测分析方法。提出了基于超声波的超误差模糊化算法,并根据超误差模糊化算法设计了相应的控制算法程序。讨论了房间内不同运动环境下各个传感器的工作状态,并由不同的运动环境状态确定了不同的传感器检测信息。利用光电传感器、超声波传感器、光电测速码盘检测信息,构建了室内环境状态的混合模型。结合混合模型制定了对应的控制策略,在该控制策略的作用下,实现了小车在室内各环境状态下的平稳运行。试验结果表明,基于多传感器构建的混合模型实现了移动小车精确、稳定的循墙导航控制,所提出的方法简单可靠、实用性强,具有一定的应用价值。For controlling mobile car,the wall following navigation control based on single sensor features low control precision, unstable moving navigation, and complex control algorithm ; to against these problems, a new wall following navigation control method based on multi - sensor is proposed, and these sensors include photoelectric sensor, ultrasonic sensor and photoelectric tachometer encoder. The system structure of the mobile car, and sensor setting are described. The detection and analysis methods of ultrasonic sensor, photoelectric sensor and photoelectric tachometer encoder are described. A fuzzy algorithm based on ultrasonic super error is proposed, and according to the fuzzy algorithm of super error, the corresponding control algorithm program is designed. The working states of each sensor in the room under different motion environments are discussed, different sensor detection information is determined by different motion environment states. Based on the detection information of photoelectric sensor,ultrasonic sensor and photoelectric speed detector, a hybrid model of indoor environment states is structured. Combining with the hybrid model, the corresponding control strategy is established, under the effect of the control strategy, the mobile car runs smoothly in each indoor environment state. The test results show that the hybrid model based on multi - sensor can realize accurate and stable wall following navigation control of mobile car, and the proposed method is simple, reliable, and has certain application value.

关 键 词：移动小车 循墙导航控制 多传感器 环境状态 混合模型 控制策略 状态机设计 系统配置 

分 类 号：TH86[机械工程—仪器科学与技术] TP24[机械工程—精密仪器及机械]