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Obstacle Avoidance of Mobile Robot Based on Multi-sensor

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Tutor: YangDongYong
School: Zhejiang University of Technology
Course: Computer System Architecture
Keywords: mobile robots,multi-sensor,behavior,fuzzy control
CLC: TP242
Type: Master's thesis
Year:  2011
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Obstacle avoidance capability of mobile robot is the key to complete the task. It is not a satisfactory result that the traditional avoidance algorithms has the disadvantage of large computation and real-time differential for creating the exact environment model. In this paper, based on the research status of mobile robot obstacle avoidance, for unknown, dynamic and complex environment, a behavioral perspective, a multi-sensor-based autonomous mobile robot obstacle avoidance mechanism is designed. Related work includes the following aspects:(1) Sensors for mobile robot obstacle avoidance were studied. In the paper, a combination of ultrasonic and infrared sensor method is applied. Infrared sensors are used to reduce blind spots and the distance ultrasonic sensor error caused by specula reflection. A recursive median filter-based method is proposed to avoid crosstalk by grouping sampling interval sampling or multi-channel ultrasonic. The data is improved in both space and time continuity. The ultrasonic signal crosstalk and other interference random signals are effectively reduced, and the accuracy of the sensor system is increased as well.(2) A behavior-based obstacle avoidance method program is designed, which divides the robot behavior during the entire run into four behaviors, including tendency to target behaviors, obstacle avoidance behavior, going along the wall and emergency obstacle avoidance behavior of four acts, including obstacle avoidance behavior And walk along the wall acts to get through the fuzzy controller. A priority based on the behavior of the regional strategy is proposed, which divides the perception of the robot is divided into three different regions based on risk priority. Rings from the region defined by region, with different priorities. Aiming at obstacle avoidance from side to side problem, a circular diagnosis method is put up by detecting the steering angle to determine the time recently. For concave obstacles, through the introduction of state manager, making the robot perform the appropriate action in accordance with the state diagram does not fall into an endless loop. Performance evaluation of the feasible path method is proposed based on a smooth track, which strikes various points by the curvature of the curve to determine the smoothness of movement. This method will provide some basis for mobile robot obstacle.Experimental results testify that mobile robots can avoid obstacles quickly with good operating results in unknown, dynamic and complex environment.
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