基于超声波和无线控制自主导航系统研究与设计

The research and design of autonomous walking robot based on ultrasonic and wireless control navigation system

智能机器人能够在未知的环境中,根据采集的环境信息或者目标发出的导航信息,确定目标的方向并计算到目标的最优路径。进行全局的路径规划则是实现自主导航的关键技术。在本系统中使用多超声波信息融合技术,探测车载系统周围的环境信息,使用嵌入式处理器ARM7作为系统核心,对采集的信息进行处理,实现避障功能;利用ZigBee无线控制模块,实现PC机对车载系统的导航控制。在全局的路径规划过程中,以蚁群算法为核心,并根据人工势场算法的思想对其进行改进,避免造成局部最优解。测试结果中,证明了系统设计的可行性和合理性。

Intelligent robots can in an uncertain environment,for global path planning is the key technology to achieve autonomous navigation.In this system,using multiple ultrasonic information fusion,detect environmental information around the vehicle system and use ARM7 embedded processor core as the system,processing the information collected by the system,at last realize obstacle avoidance capabilities,using ZigBee wireless control module,to achieve the navigation control PC to the vehicle.In the global path planning process,the ant colony algorithm as the key of the system,based on the idea of artificial potential field algorithm to improve it,which can avoid local optimal solution.Test results proved the feasibility and rationality of the system design.