基于超声相控阵的机器人避障设计

摘要

对机器人避障系统的超声相控阵进行了二维相控阵设计,给出了一种聚焦扫描的新方法,分析了回波信号.通过对前方m*n个点的聚焦,实现了对前方环境中障碍的实时探测.%We devise a two-dimensional ultrasonic phased array for robot obstacle avoidance with the principle of Ultrasonic Phased Array. We also present a new focus scanning method and analyze the echo signal. We further implement real-time detection for the obstacles ahead of a robot by focus of front m* n points.