全自主足球机器人的超声波定位避障系统  

Ultrasonic location and obstacle avoidance device for autonomous soccer robot

作　　者：黄庆成[1] 洪炳镕[1] Javaid Khurshid 高庆吉[1] 朱莹[1] 阮玉峰[1] 

机构地区：[1]哈尔滨工业大学计算机科学与技术学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2003年第9期1077-1079,共3页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展计划资助项目(863-2001AA422270).

摘　　要：为实现全自主足球机器人的定位和避障,介绍了超声波定位避障系统的体系结构,说明了超声波传感器的这种分布应用于足球机器人的必要性及这种结构的优点.针对超声波传感器测量数据变化较大和时常出现粗大误差的特点,引入了剔除不合理数据后再进行平均的思想,可以明显地提高测量数据的准确性和可靠性.实验数据证明了算法的可行性.The architecture of ultrasonic location and obstacle avoidance device and the necessity of the sensor installation in the soccer robot as well as the advantages of this structure were discussed. The data processing method for the ultrasonic location and obstacle avoidance device is different from the traditional method in allusion to the features of the large data change and usually appears big error during the measurement of ultrasonic sensor, and an idea of eliminating the unreasonable data before equalization is proposed to improve the accuracy and reliability of the measured data. The feasibility of the method is proved by experimental data.

关 键 词：足球机器人 超声波定位 避障系统 体系结构 软件流程 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]