汉-Ⅰ型智能机器人自律行走控制

Autonomous Movement Control for Han-I Intelligent Robot

本文讨论小车式机器人利用超声波传感器实现自律行走的问题.文中建立机器人行走运动的数学模型.讨论了两种利用超声波传感器和其它传感器确定器人空间位置、速度及姿势的方法.提出了一种分段最优控制方案.

The autonomous movement of a mobile robot using ultrasonic sensors is discussed. A mathematical model for the robot movement is given. Two methods for the determination of the position, speed and orientation of the robot by ultrasonic and other sensors are investigated. An optimal control algorithm is proposed, which has been used in Han-I intelligent robot and a test in a given environment gives satisfactory results with respect to simplicity and reliability.