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避障是移动机器人导航过程中必备的功能之一,针对单一测距模块的不足,设计了一种红外/超声波组合的测距方法,针对超声波的发散性缺点以及系统偶然误差造成的影响,采用多次测量剔除不合理的实验数据,然后求平均值的方法,能够准确的测出10-200cm方位内的障碍物。再通过测得的障碍物距离和方位,结合安全距离和避障原理设计相应的避障算法,最后通过小车实验验证该避障系统的可靠性和实用性。
Obstacle avoidance is one of the essential functions of mobile robot navigation. Aiming at the shortcoming of single ranging module, an infrared / ultrasonic distance measurement method is designed. According to the divergence of ultrasonic wave and the accidental error of the system, Using multiple measurements to remove unreasonable experimental data, and then the average method, can accurately measure the obstacles within 10-200cm azimuth. Then the obstacle avoidance algorithm is designed based on the measured obstacle distance and azimuth, combined with the safety distance and obstacle avoidance principle. Finally, the reliability and practicability of the obstacle avoidance system are validated by the car experiment.