基于混沌遗传的智能吸尘器避障研究

Study on Obstacle Avoidance of Intelligent Vacuum Cleaner Based on Chaos Genetic

智能吸尘器工作在陈设与障碍物较为复杂的非结构性的室内环境中,障碍物的形状与底部距地面的间隙差别较大,智能吸尘器经常在避障清扫中出现卡死的现象;提出基于混沌遗传的智能吸尘器避障方法,设计了多传感器互相协和工作的机器人避障系统,使用超声波传感器对障碍物的距离进行测量,红外传感器进行障碍物是否存在的判断,将传感器的信息简化成一维编码,采用混沌遗传的方法对吸尘器的避障策略进行软件设计;实际的吸尘器测试证明,可以有效避开不同形状与不用高度的障碍物,系统具有良好的稳定性与鲁棒性。

Intelligent vacuum cleaner works on display and obstacles of complex non structured indoor environment, the shape of obstacle and the bottom of the gap from the ground vary greatly, often in obstacle avoidance of intelligent vacuum cleaner cleaning of deadlocking phe- nomenon. Based on the chaotic genetic method of obstacle avoidance for intelligent vacuum cleaner, a sensor mutual union work robot obsta- cle avoidance system, the use of ultrasonic sensors for obstacle distance measurement, infrared sensors for obstacle to judge if there, the sen- sor information is simplified into one--dimensional coding, using chaos genetic method for vacuum cleaner obstacle avoidance strategy for software design. The actual cleaner test proof, can effectively avoid the different shape and not high obstacle, the system has good stability and robustness.