基于超声波测距技术的自主式移动机器人导航系统研究-机械电子工程专业论文.docxVIP

武汉理}：大学碾÷学馥论文A8S蕈RACT 武汉理}：大学碾÷学馥论文 A8S蕈RACT This dissertation iS about t}le research of ultrasonic navigation mobile rotot． Several key technologies including the ultrasonic ranging,simple object recognition, robot localization，path planning methods in the field of ultrasonic navigation mobile robot are researched。 At the first part，the article briefly describes the newest research of mobile robot at home and abroad，and analyzes the hotspot of mobile robot field．The contents and emphases of this dissertation are advanced．Specific of ultrasonic sensor are depicted in detail first．Then，the fundamental ofultrasonic sensor ranging is depicted in detail． At the second part of the article，an algorithm is proposed for mobile robot to follow walls and algorithm of along wall is depicted．Then fnstly robot complete self-localization and the waAl 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．The system performance of ultrasonic navigation mobile robot is evaluated by used ofemulating software． At the tllird part．based on the design of mobile robot,the derailleur is used．At the same time，considering the characters of the mobile robot and the application of the ultrasonic navigation technology,the TI Corporation’S DSP of TMS320F2812 is used to，carry the development of hardware and soft懈e．Besides the controlling of robofs diversified movements，the system have the abilities of mufti-channel ultrasonic signal transmitting，receiving and analyzing(including localization and path-planning)，also the wireless communication，which supply the necessary platform for the late research．The emulating experiment of mobile robot navigation in indoor conform the validity ofultrasonic navigation technology． At 1ast．the article summari