移动机器鼠沿墙导航策略与算法研究

Research on Wall-following Navigation Strategy and Algorithm for Mobile Mechanical Mouse

为解决移动机器鼠迷宫行走过程中存在的环境识别及分类处理问题,提出一种基于红外传感器的多模态沿墙导航控制策略和算法。以机器鼠为硬件载体,在室内迷宫环境下进行导航实验,移动机器鼠能够较好地沿墙行走,抑制行走过程中的碰撞和失控现象。实验结果表明,该导航控制策略和算法具有较高的可靠性。

According to the environment identification and categories of mobile mechanical mouse walking the labyrinth, a multi-mode wall-following navigation strategy and algorithm for the mobile mechanical mouse based on infrared sensor is proposed. The strategy and algorithm are implemented on mechanical mouse in indoor labyrinthine environment. Experimental result shows that the mobile mechanical mouse can follow a wall smoothly, and collisions and out-of-control are effectively inhibited during walking. The proposed strategy and algorithm are verified to be high reliability.