Wheel-type moving robot obstacle-avoiding control system based on multi-sensor information fusion

A mobile robot, wheeled robot technology, applied in the control/regulation system, non-electric variable control, two-dimensional position/channel control and other directions, can solve the problem of less information, low data accuracy, insufficient obstacle avoidance accuracy, etc problems, to achieve the effect of improving accuracy, improving accuracy and safety, and saving project costs

Inactive Publication Date: 2017-02-08
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The invention provides an obstacle avoidance control system for a wheeled mobile robot based on multi-sensor information fusion, which overcomes the disadvantages of less information acquired by a single sensor, low

Method used

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  • Wheel-type moving robot obstacle-avoiding control system based on multi-sensor information fusion
  • Wheel-type moving robot obstacle-avoiding control system based on multi-sensor information fusion

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specific Embodiment approach 1

[0034] Specific embodiment one: this embodiment is specifically described with reference to Fig. 1, figure ultrasonic sensor, vision sensor and infrared sensor process the related information of the surrounding environment obstacle that collects through respective corresponding high-speed processor, after processing obstacle information, then Send the data to the signal processor series (TMS320C6201 chip) of the data fusion module. The signal processor fuses the received data according to certain data fusion rules, and then transmits the fusion data to the Googo motion controller (GTS -400-PV-PCI), the Googo motion controller judges and controls the operating environment, and then makes the wheeled robot perform corresponding forward, backward, left-right steering or stop actions through the control execution module to complete real-time obstacle avoidance operation.

specific Embodiment approach 2

[0035] Specific implementation mode two: refer to figure 2 Specifically explaining this embodiment, according to a wheeled mobile robot obstacle avoidance control system based on multi-sensor information fusion described in Embodiment 1, the information collected by the sensor module is sent to the data processing module for data processing, and then passed through the control module To judge the operating environment and make control decisions, the control module 5 drives the left and right servo drivers 6-1 and 7-1 to drive the servo motors 6-2 and 7-2 to drive the four drive wheels to move in a coordinated manner:

[0036] Step 1. Power on the system to start, initialize the system, and execute step 2.

[0037] Step 2. Determine whether the system is initialized successfully. If yes, execute step 3. If not, execute step 1.

[0038] Step 3. Each sensor collects data in real time, and transmits the collected data to the data fusion module, and the fused data is transmitted t...

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Abstract

The invention discloses a wheel-type moving robot obstacle-avoiding control system based on multi-sensor information fusion, and the system mainly comprises a vision sensor module, a supersonic sensor module, an infrared sensor module, a data fusion module, a control module, and an execution module. Each sensor module carries out the processing of the collected surrounding and obstacle information, and the data fusion module receives the data collected by each sensor module, and carries out the fusion of the data collected by all sensor modules according to a certain fusion rule. The data is transmitted to a processor of the control module after fusion. The processor carries out the behavior operation judgment and control decision making according to the data information, and completes the obstacle-avoiding operation of a wheel-type robot through the execution module. The system carries out the data collection through the plurality of sensors, and carries out the parallel processing of data through a plurality of data processors, thereby increasing the speed of data processing, meeting the requirements of obstacle-avoiding real-time performance and precision of the robot, and enabling the robot to avoid an obstacle more flexibly and reliably.

Description

technical field [0001] The invention relates to an obstacle avoidance control system for a wheeled mobile robot, in particular to an obstacle avoidance control system for a wheeled mobile robot based on multi-sensor information fusion, and belongs to the technical field of robot obstacle avoidance. Background technique [0002] Wheeled robots are widely used in daily life, and autonomous obstacle avoidance is an important content of autonomous operation of wheeled robots. Using visual obstacle avoidance, ultrasonic obstacle avoidance and other sensor detection to realize obstacle avoidance is the current main trend. The visual sensor can obtain the specific information of obstacles, so as to achieve the purpose of precise obstacle avoidance, but the algorithm of visual obstacle avoidance is complicated. Image processing has a large amount of calculation, which has high requirements on the data processing system, and the limitation of light limits the visual obstacle avoidanc...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/021
Inventor 尤波田朋王明磊
Owner HARBIN UNIV OF SCI & TECH
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