履带式机器人中基于交叉探测法的凹形障碍物识别

Concave Obsracle Recognition Based on the Overlap Detection Method in Prdrail Robot

本文针对履带式机器人对凹形静态障碍物的识别,利用双超声波传感器交叉探测的方法,旨在解决凹形障碍物宽度识别的技术难点。对履带式机器人的越沟性能进行分析后,利用双超声波传感器对障碍物进行探测,进而判断出凹形障碍物的宽度,并根据具体情况进行决策。试验表明此方法提高了凹形障碍物识别的准确性和鲁棒性。

In order to identify the concave static obstacles in pedrail robot, the method of double ultrasonic sensors cross detection was used, aiming to solve the technical difficulties in identifying concave obstacle＇s width. After analysing the channel performance of pedrail robot, the double ultrasonic sensors were used to detect obstacle, and then the concave obstacle＇s width was identifyed, and decision would be made according to the specific situation. It was showed in the experiments that this method improves the accuracy and robustness of the concave obstacle identification.