【作者】 张海鹰；

【导师】 金元郁；

【作者基本信息】 青岛科技大学 ， 控制理论与控制工程， 2008， 硕士

【摘要】 设计中的超声波自主探路车系统,其本质上是自主导航的轮式移动机器人。系统通过超声波测距来获取周边的环境信息,通过对环境信息的处理分析,决定探路车每一步的行动。探路车的测距系统,采取了用步进电机驱动超声传感器做扇形扫描的办法。超声传感器在步进电机的驱动下,以固定的角度步进转动。每转到一个角度上,测距系统就测取该方向上的障碍物的距离,使系统获得兼有方向和距离的障碍物位置信息。进而依据连续的障碍物信息,对行驶环境做出准确判断,正确决定探路车每一步的行驶。转弯是轮式移动机器人最重要的运动形式。系统通过精确地计算车辆的转弯半径,增强了系统的转弯能力,提高了探路车转弯行驶的效率。探路车系统各方面的参数,是根据实际情况,动态设定的。并且各参数之间联系紧密,能使系统拥有更高的效率。行动决策是探路车系统中最重要的一个部分。系统设计了多种行驶模式,尤其设计了可以在无法预知通行路径的情况下使用的循线行驶模式,分别应对系统在不同环境下的决策和行动。更多还原

【Abstract】 The ultrasonic self-determined route exploring car in this design is an autonomous navigated wheeled mobile robot in nature. The system gets the environmental information from the ultrasonic distance measuring system, and decides the actions of the route exploring car by analyzing the environmental information.The distance measuring system of the route exploring car uses a step motor to drive the ultrasonic sensor scanning in sector. By the driving of the step motor, the ultrasonic sensor turns in immovable angle. The distance measuring system would get the distances of the barriers in each angle the ultrasonic sensor turns to. So, the system would get the position information of the barrier including both the distance and the direction. The system could make exact judgment about the driving environment according to the continuous information of all the barriers, and then the system could make right decisions to direct every step of the driving.Swerve is the most important moving form of the wheeled mobile robot. By calculating the radiuses that the car swerves accurately, the system improves its ability of swerving and the driving efficiency.All the parameters of the route exploring car system are dynamic decided. All the parameters relate with each other, and it makes the system more effective.The decision-making of actions is the most important part. Several driving mode is designed in the system, especially the inspection driving mode that can work without predicting the route. The driving mode is used in different conditions to make decisions and direct actions.更多还原