基于PSD和声纳传感器的移动机器人避障研究

A Study on Mobile Robots' Avoiding Obstacles based on PSD and Sonar Sensors

障碍物监测是移动机器人必须解决的关键问题之一.针对机器人在自主运动时的避障问题,介绍以IN-RT移动机器人为平台的PSD和声纳传感器系统的设计与实现原理.以此为基础,提出基于多种多个传感器信息融合的方法,采用模糊控制实现机器人的避障行为.该方法弥补了单种单个传感器检测的局限性,提高了移动机器人对障碍物识别的准确率,并通过试验证实了该策略能够基本满足机器人自主避障时稳定性和准确性的要求.

One of the critical problems in association with mobile robots is detecting obstacles. To solve the problem with obstacle avoidance of mobile robots, this paper introduces the design and implementation principle of PSD and sonar sensor system which takes IN-RT mobile robots as a platform. A method of multiple sensor information fusion is proposed by means of fuzzy control to avoid obstacles of robots. This method can overcome the limitations of single kind of sensor detection and improve the accuracy of mobile robots＇ identification of obstacles. The experiments prove that this method can satisfy the requirements for stability and accuracy when robots avoid obstacles.