基于bland man tracking wall理论的避障导航机器人控制研究

2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI:10.1109/ICINFA.2015.7279320

Yuan Yuan, Juping Gu, Feng Chen, Yiming Xu, Hui Yang, Yangyang Miao

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引用次数: 1

摘要

在机器人避障与导航领域，视觉、超声、红外等间接接触式传感器得到了广泛的应用。然而，这些传感器的性能总是受到恶劣环境的影响，特别是在黑暗、浓雾、水下条件下。本文提出了一种基于触觉传感器的避障机器人，仅利用三维力传感器即可实现自主避障导航。此外，本文还对数学模型和算法进行了优化，以弥补触觉传感器的不足。最后，通过仿真结果验证了本研究的可行性和可靠性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Study of obstacle avoidance navigation robot control based on bland man tracing wall theory

In the field of robots' obstacle avoidance and navigation, indirect contact sensors such as visual, ultrasonic and infrared detection are widely used. However, the performance of these sensors is always influenced by the severe environment, especially under the dark, dense fog, underwater conditions. The obstacle avoidance robot based on tactile sensor is proposed in this paper to realize the autonomous obstacle avoidance navigation by only using three dimensions force sensor. In addition, the mathematical model and algorithm are optimized to make up the deficiency of tactile sensor. Finally, the feasibility and reliability of this study are verified by the simulation results.

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2015 IEEE International Conference on Information and Automation

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