基于复合控制算法的移动机器人沿墙导航研究

摘要

室内复杂环境下,由于超声波传感器测量精度不高、数量有限,导致移动机器人沿墙导航效果不佳,现有的控制算法实现较为复杂.为此,提出一种基于复合控制算法的沿墙导航策略,通过PID控制算法和Bang-Bang控制算法切换,控制移动机器人进行沿墙导航并最终实现室内环境的边缘检测.实际运行实验验证了该方法的可行性和鲁棒性.%The performance of wall-following navigation for mobile robot is not good in indoor complex environment due to the limitation of the ultrasonic sensors in both numbers and metric accuracy, thus the existing control algorithms become complicated in implementation. Therefore this paper proposes a wall-following navigation strategy based on the composite control algorithm. By switching between the PID control algorithm and the Bang-Bang control algorithm, the mobile robot can be controlled to realise the wall-following navigation and achieve the edge detection in indoor environment. Practical operation experiment proves the effectiveness and robustness of the designed method.