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Distributed ultrasonic obstacle avoidance system and obstacle avoidance method thereof

An ultrasonic and distributed technology, which is applied in the radio wave measurement system, sound wave re-radiation, utilization of re-radiation, etc., can solve the problems of high cost of radar scanner ranging, large phantom interference in the blind area, complex algorithm, etc., to achieve applicability And the effects of strong practicability, fast dodging, and simple programming

Inactive Publication Date: 2016-03-02
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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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

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  • Distributed ultrasonic obstacle avoidance system and obstacle avoidance method thereof
  • Distributed ultrasonic obstacle avoidance system and obstacle avoidance method thereof
  • Distributed ultrasonic obstacle avoidance system and obstacle avoidance method thereof

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Embodiment Construction

[0037] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0038] The invention discloses a distributed ultrasonic obstacle avoidance system and an obstacle avoidance method thereof, wherein the distributed ultrasonic obstacle avoidance system includes a carrier, a processor, and several ultrasonic modules;

[0039] The carrier is used to load the processor and the ultrasonic module, and accept instructions from the processor to avoid obstacles;

[0040] The plurality of ultrasonic modules are arranged on the carrier, the emission direction of which is outward, and the included angles between the emission directions of two adjacent ultrasonic modules are equal;

[0041] The processor is used to calculate the detection distance of obstacles in the direction of each ultrasonic module, and send an obstacle avoidance instruction to the carrier.

[0042] The processor adopts ATMEGA328 module, and the ultrasoni...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/93
CPCG01S15/93
Inventor 薛亮王新华刘翎予孙一力贾森
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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