室内移动机器人自主避障研究

摘要

In order to soIve the probIem of mobiIe robot IocaIization in indoor environment,the dead reckoning aIgorithm is designed to acquire the reaI-time Iocation information of the robot.For reaI-time obstacIe avoidance of mobiIe robots in un-known environment,the aIgorithm based on muIti-sensor information fusion is proposed in this paper,which use uItrasonic and infrared sensors to detect surrounding environment information,make data fusion and get effective distance information. According to the target point and sensor data,the fuzzy controI er is designed to reaIize reaI-time avoidance behavior.%为了解决移动机器人在室内环境中的定位问题，设计航迹推测算法实时获取机器人的位姿信息。针对未知环境下的实时避障问题，提出基于多传感器信息融合的算法，用超声波、红外传感器对移动机器人周围的环境信息进行探测，进行数据融合，获得有效的距离信息。根据目标点信息和传感器测距信息，设计模糊控制器来实现实时避障行为。为了验证算法的可行性和有效性，在AS－R室内移动机器人平台上进行实物实验。实验结果表明：该方法能够引导机器人避开多个障碍物，到达目标点。