摘要
为了提高轮式机器人在未知环境中的避障性能,采用ARM控制器,结合多传感器融合技术和模糊控制技术,对轮式机器人避障系统进行了研究。利用多路传感器采集未知环境中搜索范围内的障碍物距离信息,根据不同的距离信息来制定具有避障功能的模糊控制算法,进而控制轮式机器人的运动状态。实验中,根据轮式机器人反馈的信息不断调整参数,以达到准确避障。实验结果表明:所提方法能够有效地解决轮式机器人在未知环境中的避障问题,在无人驾驶方面具有广泛的应用前景。
In order to improve the performance of obstacle avoidance of wheeled robot in unknown environment,obstacle avoidance system of wheeled robot is studied by using ARM controller,combined with multi-sensor fusion technology and fuzzy control technology.Multipath sensors are used to collect the distance information of obstacles in the searching range,the fuzzy control algorithm with obstacle avoidance function is designed according to the distance information of obstacles,further the motion state of wheeled robot is controlled.According to the feedback information of the wheeled robot,the parameters are adjusted continuously to avoid the obstacle.The experimental results show that this method can effectively solve the obstacle avoidance problem of wheeled robot in unknown environment,and it has broad application prospect in manless driving.
作者
谭莲子
张莉萍
彭璐佳
刘聪
童宏伟
TAN Lianzi;ZHANG Liping;PENG Lujia;LIU Cong;TONG Hongwei(College of Eletronic and Electrical Engineering,Shanghai University of Engineering Science,Shanghai 201600,China)
出处
《传感器与微系统》
CSCD
2019年第7期92-94,98,共4页
Transducer and Microsystem Technologies
基金
上海工程技术大学研究生创新项目(12KY0217)
关键词
避障
传感器
模糊控制
ARM
obstacle avoidance
sensor
fuzzy control
ARM
