摘要
在自主式移动机器人的定位导航中,实时探测周围环境信息的传感器系统是至关重要的。介绍了一种基于单片机的多路环境探测器,阐述了系统的工作原理与软硬件设计,分析了误差产生的原因,给出了相应地处理方法。基于此开发了SMAJ自主移动小车,实验验证了系统的实效性。
A real-time sensor system plays a critical role for autonomous robot navigation, and location as well. In this paper, a MCU based multi-channel ultrasonic environment finder for autonomous robot is introduced. Some reasons caused the measure error are analyzed, and methods to cope with it are also addressed. By taking advantage of the finder, a small mobile autonomous jeep named SMAJ is developed, experiments show its practicability.
出处
《中国科学院研究生院学报》
CAS
CSCD
2002年第2期172-176,共5页
Journal of the Graduate School of the Chinese Academy of Sciences
基金
国家高技术研究发展计划 863资助项目