摘要
介绍了适用于移动机器人的声纳环传感器系统的设计与实现方法 ,给出了系统的软硬件结构 ,在对声纳数据进行建模的基础上 ,提出了两种基本行为控制算法 :避障与沿墙走 ,并运用有限状态机对这两种基本行为进行行为融合 ,设计了一种复合行为 :环游房间。
Design and implementation of a sonar ring sensing system for an autonomous mobile robot are introduced,describing the system components and structure of hardware and software.Considering navigation problem in real environment,two kinds of behavior control algorithms:obstacle avoidance and walking along the wall are presented on the base of building models of sonar data.Using FSM(finite state machine),a multi-behavior: going around the room,by behavior fusing,is designed.Experiment and games verify the effectiveness of our methods.
出处
《测控技术》
CSCD
2003年第6期46-50,共5页
Measurement & Control Technology
基金
国家 8 63计划机器人技术主题资助项目( 2 0 0 1AA42 2 14 0 )
国家自然科学基金资助项目 ( 698895 0 1
60 10 5 0 0 5 )
关键词
声纳环
自主机器人
行为
避障
sonar ring
autonomous robot
behavior
obstacle avoidance
