基于超声波的室内移动机器人贴地障碍物检测

摘要

The indoor mobile robots systems always ignore the low obstacles which clung to ground while don＇t really hinder the robot. In order to enhance the stability of driving for the robots, a special ultrasonic ranging system is put forward to detect the obstacles cling to ground. Design requirements of such systems are analyzed, and realization methods are summarized.%通常的室内移动机器人系统，往往忽视环境中存在的贴近地面、但并不阻碍机器人行驶的低矮障碍物。为增强机器人行驶的稳定性，提出了专门用于检测贴地障碍物的超声波测距系统，并分析总结了此类系统的设计要求与实现方法。