水下清污机器人避障控制设计

摘要

障碍检测避让是水下清污机器人运动控制的关键问题。分析了机器人障碍的特点和检测方法，确定了障碍控制的方案，设计了检测电路和控制程序，实现了机器人的障碍避让和控制。%Obstacle detection and avoidance is the key to the control of a underwater cleaning robot .This paper analyzes the charac-teristics and detection methods of robot obstacles ,draws up a control plan of obstacle aviodance ,designs the detection circuit and the control program ,and implement the obstacle avoidance of robot .