基于超声波传感器的双足步行机器人避障系统设计  

Design of Obstacle Avoidance System for Bipedal Walking Robot Based on Ultrasonic Sensor

作　　者：杨亭 周健 陈文辉 李丽珠 李辉辉 YANG Ting;ZHOU Jian;CHEN Wenhui;LI Lizhu;LI Huihui(Guangdong Open University(Guangdong Polytechnic Institute),Guangzhou 510091;Guangzhou Conghua District Vocational and Technical School,Guangzhou 510920;Guangxi Vocational College of Water Resources and Electric Power,Nanning 530000)

机构地区：[1]广东开放大学(广东理工职业学院),广州510091 [2]广州市从化区职业技术学校,广州510920 [3]广西水利电力职业技术学院,南宁530000

出　　处：《现代制造技术与装备》2024年第1期45-47,共3页Modern Manufacturing Technology and Equipment

摘　　要：文章主要研究如何将双足步行机器人的开环控制系统升级为闭环控制系统。为实现这一目标,在硬件配置和控制算法两方面做了优化。首先,为双足步行机器人配置1个可转动180°的舵机云台,用于安装超声波传感器。通过转动云台,超声波传感器可探测到机器人左、前、右3个方向的障碍物。其次,安装Arduino MEGA 2560开发板作为主控制器,根据障碍物的方位、距离下达前进、转向或加减速指令,从而达到避障效果。最后,设计控制算法,其核心是让机器人向没有障碍物或距离障碍物最远的一侧步行,步行速度与障碍物距离成正相关关系。通过实验检验机器人的避障效果,机器人在具有口字形、凹字形、Z字形障碍物的场地中,均能按照控制算法成功避障。文章成功将开环控制系统的双足步行机器人改为闭环控制系统,为机器人智能化方向发展奠定了基础。This paper mainly studies how to upgrade the open-loop control system of biped walking robot to closed-loop control system.In order to achieve this goal,the hardware configuration and control algorithm are optimized.First,the bipedal walking robot is equipped with a steering gear head that can turn 180°for the installation of ultrasonic sensors.By rotating the head,the ultrasonic sensor can detect obstacles in the left,front and right directions of the robot.Secondly,the Arduino MEGA 2560 development board is installed as the main controller to give forward,turn,add,subtract and decelerate instructions according to the orientation and distance of obstacles,so as to achieve obstacle avoidance effect.Finally,the control algorithm is designed,the core of which is to make the robot walk towards the side where there is no obstacle or the farthest distance from the obstacle,and the walking speed is positively correlated with the distance of the obstacle.Through the experiment to check the robot obstacle avoidance effect,the robot can successfully avoid obstacles in the field with mouth shape,concave shape and Z shape obstacles according to the control algorithm.In this paper,the biped walking robot with open-loop control system is successfully changed into closed-loop control system,which lays a foundation for the development of robot in the direction of intelligence.

关 键 词：双足步行机器人 超声波传感器 避障 闭环控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程]