移动机器人超声回波模拟器

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583272

F. Tsuzuki, K. Sasaki

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引用次数: 1

摘要

本文介绍了一种基于实体建模理论的超声回波生成环境建模工具。讨论了移动机器人沿预定路径运动时超声波传感器在移动机器人导航和避障中的应用。到目前为止，许多超声波传感器使用的环形结构已经取得了良好的效果。环形结构易于操作，但结构不紧凑，因此模拟并构建了一个更紧凑的传感器与步进电机耦合的超声传感器系统。传感器必须具有智能，知道它必须向哪个方向发射一个波，以便从环境中接收一个回声。通过使用仿真，可以测试为传感器提供智能的规则，使其成为有效的主动传感器。

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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Ultrasonic echo simulator for mobile robots

This paper introduces an environment modeling tool for ultrasonic echo generation based on the theory of solid modeling. The utilization of ultrasonic sensors in mobile robots for the purpose of navigation and obstacle avoidance when a mobile robot is moving along a desired path is discussed. Until now the ring configuration, in which many ultrasonic sensors are used, has given good results. The ring configuration is easy to operate but it is not compact, so a more compact ultrasonic sensor system with a sensor coupled to a stepping motor has been simulated and built. The sensor must have intelligence to know in which direction it must send out a wave in order to receive one echo from the environment. By using the simulation it is possible to test rules that provide intelligence to the sensor, making it an effective active sensor.

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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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