Distributed ultrasonic obstacle avoidance system and obstacle avoidance method thereof

Abstract

The invention discloses a distributed ultrasonic obstacle avoidance system and an obstacle avoidance method thereof. The obstacle avoidance system comprises a carrier, a processor, and a plurality of ultrasonic modules. The carrier is used for carrying the processor and the ultrasonic modules. The ultrasonic modules are arranged on the carrier, the emitting direction is outward, and the included angle between the emitting directions of every two adjacent modules is equal. The processor is used for calculating the detection distance of obstacles in all ultrasonic module directions and sending an obstacle avoidance instruction to the carrier. The system works according to the following steps: judging whether an obstacle is within a set obstacle avoidance range; judging whether the speed of the carrier in the obstacle direction is nonnegative; and if the speed of the carrier in the obstacle direction is nonnegative, randomly generating at least two paths not passing the obstacle range from the current position according to a preset step length, taking one step along the paths, and linearly marching towards the endpoint from the current point. The distributed ultrasonic obstacle avoidance system and the obstacle avoidance method are of low cost and high adaptability, and have great practical values.

Description

technical field [0001] The invention relates to the technical field of navigation positioning and control, in particular to a distributed ultrasonic obstacle avoidance system and an obstacle avoidance method. Background technique [0002] In the field of intelligent robots, the autonomous obstacle avoidance function of robots (including ground robots and aircraft) is an important indicator to measure their intelligence, and it is also the most basic aspect. Autonomous obstacle avoidance is an important factor for safety and stability in intelligent systems. Guarantee, only with the ability of autonomous obstacle avoidance, intelligent robot (or aircraft) can complete other tasks efficiently. Obstacle avoidance requires not only that the intelligent system can detect obstacles or dangerous objects in real time, but also coordinate with its own movement and make reasonable path and task planning. At present, radar scanners are mostly used in the way of obstacle avoidance, whi...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a distributed ultrasonic obstacle avoidance system and its obstacle avoidance method for the defects in the background technology, which overcomes the shortcomings of a single ultrasonic sensor for monitoring spatial information such as large blind spots and phantom interference, and solves the problem of Solved the problems of high cost, complex algorithm and large amount of calculation in radar scanner ranging

Images