摘要
避障是移动机器人导航过程中必备的功能之一,针对单一测距模块的不足,设计了一种红外/超声波组合的测距方法,针对超声波的发散性缺点以及系统偶然误差造成的影响,采用多次测量剔除不合理的实验数据,然后求平均值的方法,能够准确的测出10-200cm方位内的障碍物。再通过测得的障碍物距离和方位,结合安全距离和避障原理设计相应的避障算法,最后通过小车实验验证该避障系统的可靠性和实用性。
Obstacle avoidance is one of the essential functions in the navigation of mobile robot. According to the shortcomings of single ranging module,designe a method of infrared and ultrasonic distance measurement. Use of multiple measurements remove not ideal data,And then the average,it can accuracy measure obstacles of 10-200 cm. The obstacle avoidance algorithm is designed by using the distance and direction of the obstacle,and the reliability and practicability of the obstacle avoidance system are verified by the car experiments.
出处
《自动化与仪器仪表》
2016年第1期36-38,共3页
Automation & Instrumentation
关键词
超声波
红外避障
智能小车
FPGA
Ultrasonic
Infrared obstacle avoidance
Intelligent car
FPGA
