Navigation System for Mobile Robot Based on Simultaneous-Firing Sonar Ring
Navigation System for Mobile Robot Based on Simultaneous-Firing Sonar Ring
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基于同步发射声呐环的移动机器人导航系统
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发表时间：
2007
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开发了一种能在未知环境下实现快速障碍检测与障碍回避的基于同时发射声纳环移动机器人导航系统。为了消除同时发射中由于串扰引起的误差数据，系统采用了基于神经网络模式匹配的滤波方法。为了展示该方法的优越性，制作了一个由24个声纳传感器组成的声纳环样机，并安装在移动的机器人上。结果，实现了高达66Hz的全景检测的扫描速率。实际的导航实验表明,系统可用于室内未知环境中的移动机器人快速导航。
A navigation system for mobile robot based on simultaneous-firing sonar ring is developed. To eliminate error data due to crosstalk in the simultaneous firing, a filter method based on pattern matching using neural network is used in the system. To show the advantage of this method, a prototype of sonar ring with 24 sonar sensors is fabricated and installed to a mobile robot. As a result, a scanning rate up to 66 Hz of panoramic detection is achieved. The experimental results show that the navigation system is applicable to rapid navigation for mobile robot in unknown indoor environments.