基于声纳的移动机器人沿墙导航控制

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (599 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
王栋耀, 马旭东, 戴先中. 基于声纳的移动机器人沿墙导航控制[J]. 机器人, 2004, 26(4): 346-350,356.. WANG Dong-yao, MA Xu-dong, DAI Xian-zhong. Wall following Navigation Control for a Sonar-based Mobile Robot. ROBOT, 2004, 26(4): 346-350,356..

摘要针对移动机器人提出了一种沿墙导航控制算法．算法首先对室内环境中墙的形状进行分类，并针对每一类型的墙设计相应的控制策略．然后在移动机器人运动过程中，基于有限状态机实现移动机器人沿墙状态的转移，从而使移动机器人采用不同的控制策略控制其运动．文中利用Pioneer2DX移动机器人对此算法进行了实验研究，取得了理想的效果．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	王栋耀
	马旭东
	戴先中

关键词 ：移动机器人, 声纳传感器, 有限状态机, 沿墙导航

Abstract：In this paper, an algorithm is proposed for mobile robot to follow walls. Firstly the wall shapes of the indoor environment are classified into different types for which wall-following strategies are designed respectively. When the mobile robot moves, the wall-following status changes, based on Finite State Machine(FSM), then the corresponding wall-following strategy is chosen to control the mobile robot. Experiments on the Pioneer 2DX mobile robot are conducted to evaluate the performance of the algorithm, and good results are obtained.

Key words： mobile robot sonar sensor finite state machine(FSM) wall following navigation

收稿日期: 2003-12-28

TP24

基金资助:国家863计划资助项目（2001AA422260）

作者简介: 王栋耀（1977-），男，博士生．研究领域：网络机器人及其应用，移动机器人控制．
马旭东（1962-），男，教授，研究领域：网络化移动机器人，分布式控制系统，实时系统软件．
戴先中（1954-），男，博士生导师．研究领域：神经网络，非线性控制，计算机控制，机器人控制，电力系统控制．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2004/V26/I4/346

[1] Chancharoen R, Sangveraphunsiri V, Navakulsirinart T, et al. Target tracking and obstacle avoidance for mobile robots[A]. 2002 IEEE International Conference on Industrial Technology [C]. 2002, Vol. 1.13-17.
[2] Thongchai S, Kawamura K. Application of fuzzy control to a sonarbased obstacle avoidance mobile robot[A]. Proceedings of the 2000 IEEE International Conference on Control Applications [C]. 2000.425-430.
[3] Crowley J L. Mathematical foundations of navigation and perception for an autonomous mobile robot[A]. Proceedings of the 1995 International Workshop on Reasoning with Uncertainty in Robotics [C]. Netherlands:The University of Amsterdam, 1995.
[4] Durrant-Whyte H. Where am I? [M]. Industrial Robot, 1992.
[5] Jung I K, Hong K B, Hong S K, et al. Path planning of mobile robot using neural network [A]. Proceedings of the IEEE International Symposium on Industrial Electronics[C]. 1999, Vol. 3. 979-983.
[6] Borenstein J, Keron Y. The vector filed histogram-fast obstacle avoidance for mobile robots[J]. IEEE Transactions on Robotics and Automation, 1991,7(3) :278-288.
[7] Turennout P, Honderd G, Schelven L. Wall-following control of a mobile robot[A]. Proceedings of the 1992 IEEE International Conference on Robotics and Automation[C]. France:1992. 280-285.
[8] Bemporad A, Marco M D, Tesi A. Wall-following controllers for sonar-based mobile robots[A]. Proceedings of the 36th Conference on Decision & Control[C]. San Diego, USA:1997. 3063-3068.
[9] Yoshinobu A, Shi'ichi Y. Following a wall by an autonomous mobile robot with a sonar-ring[A]. Proceedings of the 1995 IEEE International Conference on Robotics and Automation [C]. 1995, Vol. 3.2599-2606.
[10] Holder M B, Trivedi M M, Marapane S B. Mobile robot navigation by wall following using a rotating ultrasonic scanner[A]. Proceedings of the 13th International Conference on Pattern Recognition [C]. 1996,Vol. 3. 298-302.
[11] ActivMedia Corporation. Aria Reference Manual 1.2.0 [EB]. http://robots.ActivMedia.com/,2003.