| 基于超声的非完整移动机器人避障控制 |
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| 引用本文： | 廖勤武,王朝立,梅迎春.基于超声的非完整移动机器人避障控制[J].上海理工大学学报(社会科学版),2009,31(4). |
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| 作者姓名： | 廖勤武 王朝立 梅迎春 |
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| 作者单位： | 上海理工大学,光电信息与计算机工程学院,上海,200093? |
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| 基金项目： | 国家自然科学基金资助项目，上海市曙光计划，上海市教委科研基金资助项目? |
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| 摘 要： | 介绍了路径规划的发展状况,并对非完整移动机器人的模型进行了讨论.为实现非完整移动机器人的自主避障,给出了移动机器人的超声定位结构,并提出一种基于超声避障的控制策略,对不同方向上的障碍作不同的考虑,突出正前方的障碍.将避障策略应用于实验平台,结果表明,移动机器人能在布满障碍的环境中有效实现避碰.
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| 关 键 词： | 非完整移动机器人 避障 超声定位 |
Obstacle avoidance control for nonholonomic mobile robots based on ultrasonic sensors |
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| LIAO Qin-wu,WANG Chao-li,MEI Ying-chun.Obstacle avoidance control for nonholonomic mobile robots based on ultrasonic sensors[J].Journal of University of Shanghai For Science and Technilogy(Social Science),2009,31(4). |
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| Authors: | LIAO Qin-wu WANG Chao-li MEI Ying-chun |
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| Institution: | School of Optical-Electrical and Computer Engineering;University of Shanghai for Science and Technology;Shanghai 200093;China |
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| Abstract: | The development in path planning and the model of nonholonomic mobile robot were introduced.The architecture of ultrasonic sensors location was discussed in order to realize the obstacle avoidance for mobile robot.A control strategy based on ultrasonic sensors was presented.Obstacles in different directions were taken into consideration,especially standing out the obstacle in front.The experiment results verify the effectiveness of obstacle avoidance in the environment full of obstacles. |
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| Keywords: | nonholonomic mobile robot obstacles avoidance ultrasonic sensors location |
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