Integrated Sensor System and its Application for the Navigation Control of Mobile Robots

本研究的目的是构建具有不同工作原理的传感器的集成传感器系统，并将该系统应用于移动机器人的导航控制。在本研究中，光学距离传感器和触摸传感器分别用于检测机器人与障碍物的距离和机器人与障碍物的碰撞。研究第一年的研究结果如下：(1)对于移动机器人的导航控制，可以根据运行模式的等级划分任务，并采用逐级控制的方法进行控制。(2)如果传感器输出是有模式的，则适合直接使用该模式来控制机器人以避免碰撞。(3)相反，机器人的逻辑导航应采用基于规则的传感器数据处理方法，将模式数据与逻辑数据（符号数据）的处理相结合，构建具有鲁棒性的导航控制系统。在此基础上，利用本课题研制的四轮实验机器人进行了导航实验。所得结果为：(1)在实际的导航实验中，通过分层结构划分任务来实现对机器人的鲁棒控制是非常有用的。(2)利用基于成本相等原则的航道规划，在航道型情况下进行了航行控制实验。通过机器人通过十字路口时的距离传感器数据和显示机器人与墙壁碰撞历史的运行记录，可以将检测到的运行情况信息与事先在路线图上显示的信息相结合。(3)以上研究结果使得将距离传感器数据与触摸传感器数据相结合，实现移动机器人的控制成为可能。

The aim of this research is to construct the integrated sensor system with sensors having different work principles and to apply the system to the navigation control of mobile robots.In this research optical range sensor and touch sensor are used for detecting the distance to the obstacle and the collision between robot and obstacles, respectively.The results obtained in the first year of research period are ;(1) For the navigation control of mobile robot it is useful to divide the tasks depending on the level of running mode and applying them for the control the step by step method.(2) If the sensor output is obtained in pattern it is suitable to use this pattern directly to control robots to avoid collision.(3) On the contrary the rule based processing of the sensor data should be used for the logical navigation of robot and by combining the processing of the pattern data and the logical data (symbolical data) the navigation control system with robustness can be constructed.Based on these results mentioned above navigation experiments have been done with the four-wheeled experimental robot manufactured in this project. The results obtained are ;(1) In the actual navigation experiment it is found useful to control the robot by dividing the tasks in hierarchical structure for robust control of navigation.(2) The navigation control experiments have been made in the passage type circumstance using pass planning based on cost-equal principle. The range sensor data obtained when robot is passing bythe crossings and the running records which show the history of robot's collision with wall, the detected information about the running circumstances can be integrated with the information indicated beforehand on the route map.(3) The results mentioned above make it possible to realize the mobile robot control by integration of the range sensor data and the touch sensor data.