基于超聲波傳感器測距的沿邊走吸塵器路徑規(guī)劃算

為了提高家用吸塵器使用的效率,并保證安全性和可靠性,提出利用超聲波傳感器來測距的環(huán)境信息采集的吸塵器清掃路徑規(guī)劃算法。首先本文簡要描述了機器人路徑規(guī)劃的目標,超聲波測距的工作原理。分析了家用自主式移動吸塵器設(shè)計時所面臨的問題。提出了一種基于超聲波傳感器的家用自主式移動吸塵器路徑規(guī)劃算法,該算法有效地減少了吸塵器清掃某個具體環(huán)境的時間,提高其清掃效率,同時具有自動檢測障礙物、自主避障的功能。
[關(guān)鍵詞] 移動機器人,路徑規(guī)劃,超聲波測距,環(huán)境建模,避障。
[ Abstract] For improving the efficient of home - used cleaner and guaranteeing security, this paper puts forward an Ultrasonic Sensor Based Home - used Moving Cleaner Path Planning Algorithm. The Algorithmcan also reduce the used time when home - used cleaner cleaningin a environment , while it makes the cleaner which has functions of auto obstacle detection and auto obstacle avoidance .
[ Keywords] mobile robot , path planning, ultra - sonic ranging, environment modeling, obstacle avoidance.