小型环境检测轮式机器人的避障控制系统研究

Research on Obstacle Avoidance Control System for Small Scale Environment Detection Wheeled Robot

环境检测的轮式机器人应具备智能避障功能,在复杂的空间环境中实现自动识别和躲避障碍物,安全可靠地完成环境检测任务。采用超声波传感器为障碍感知器件,以单片机为控制核心搭建了避障控制系统的软硬件。针对障碍物尺寸的不同,通过硬件布置和算法编程实现了两种避障模式。最终实现了小型轮式机器人的自动避障运行。

In the complex space environment, the robot should have the function of intelligent obstacle avoidance, which can realize the automatic identification and avoid obstacles, and environment detection with safe and reliability. The hardware and software of the obstacle avoidance control system are constructed by using the ultrasonic sensor as the obstacle perception device and the single chip microcomputer as the control core. Aiming at different sizes of obstacles,two kinds of obstacle avoidance modes are realized by hardware layout and algorithm programming. Finally the automatic obstacle avoidance for small wheeled robot is realized.