METHOD FOR DETERMINING THE ANGLE OF MOBILE robotic system to overcome obstacles

摘要

A method for determining the angle of rotation of mobile robotic system in overcoming obstacles, including operation of the control in performing the tasks related to the mobile object movement in a changing environment system, data processing with sensors, generating control signals for actuators bodies mobile object, characterized in that for implementation obstacle detection problem arising in the path of mobile robotic system is used, ultrasonic sensors, sET lennye perimeter of the complex for which before driving the control system is given limiting distance detecting obstacles and input hysteresis zone when the distance to the obstacle is on the border of the detection zone, after selecting the main direction of motion and begin to move is continuously processing with ultrasonic sensors, after obstacle detection is performed problem of determining the rotation angle set for the maneuvering of detour obstacles, which in the com plex introduced analog angular velocity sensor - a micromechanical gyroscope to eliminate the influence on the calculation accuracy of the rotation angle performed calibration operation prior to use complex folding of two parts: the first part - calibration "zero" of the sensor and adopting a constant correction X to the value of the angular velocity, the second - determination of the scaling factor K, Kdlya calculating the rotation angle values ​​to obtain the required precision, a pre-filtering the digitized angular velocity signal f