未知环境表面的超声波探测实验研究

Experimental Study on Ultrasonic Exploration in Unknown Environment

针对机器人未知工作环境,提出了一种基于超声波传感器的探测方法.建立了探测系统的结构模型,阐述了系统的工作原理,并分别对平面、圆弧曲面、斜面以及竖直面等未知环境基本组成面的探测进行了实验研究.实验结果表明,超声波测距仪不适合曲率半径小的圆弧曲面探测.对于其他三类环境表面的探测,给出了各自的探测策略和数据处理方法,主要包括:斜面探测需要用三个超声波传感器,竖直面探测需要补偿由于开角引起的误差,平面探测需要补偿由传感器运动引起的动态测量误差等.

A new exploring method is presented for a robot carrying ultrasonic sensors to work in unknown environment. With a structural model developed for the exploring system and its operating principle described, an experimental investigation was done on some different surfaces which form basically an unknown and unstructured environment, such as plane, circular, inclined and vertical surfaces. The experimental results showed that the ultrasonic rangefinder doesn＇t fit to explore the circular surface of small radius of curvature. As for the other three surfaces, different ways were proposed for exploration and data processing separately as a result of the experimental study, i. e., three ultrasonic sensors are necessary for inclined surface; the dynamically measuring errors resulting from patulous angle should be compensated for vertical surface; moving sensors should be compensated for plane surface.