The Research Of Mobile Robot Ultrasonic Avoiding System In The Unknown Environment

With the development of the science and the technical progress, the robot will be more and more applied to the all kinds of human social application area, such as industry, agriculture, department of defense, scientific experiment and service profession, the mobile robot is the most embranchment for the robotics.At the same time, because of the more flexibility, the mobile robot has been a investigative emphasis.The mobile robot is a intellectualized machine system that is with the perceptibility of environment, dynamic decision-making and the planning,behavior controlling and executing.Its research is concerned with multidisciplinary theory and technique,such as the sensor technique,artificial intelligence,automatic control, mechanology,which can embody the up-to-date achievement,the expansion of application area,being possessed of inportmant value.The obstacle avoidance control of the mobile robot is a difficulty during the path routing,according to the degree of the known information for the mobile robot received,there are two kinds of the routing:the global path routing with known environmental information and the other local path routing with unknown or partitive unknown environmental information. Right now a lot of effective methods have been put forward for the obstacle avoidance under the known environmental information.Compared to it, the implementation for the mobile robot under the unknown or partitive unknown environmental information is more difficulit.This paper comes up with a navigation system for the mobile robot based on the ultrasonic module,one aspect,the author carrys out deepgoing theory study, doing interrelated design in the hardware and software programming;another aspect,the author does a lot of experimental studies, doing the off-lining real-time control.Through the careful observation,the author modify interrelated parameters.Based on the experiment,the obstacle avoidance action has been acquired ideal control effect,making the mobile robot could in time,effective,stable and scure avoiding the obstacle.This method use the distance between the mobile robot and the obstacle as the decision basis,hardly at all in consideration of the state of the obstacle movement,so that can reduce the robot avoiding obstacle steps,then the mobile robot can accord to the distance alertmently judge whether existing the obstacle,which is in danger of collision,then the mobile robot choose the effective avoiding obstacle method.This paper's major study contents include:1. using the ultrasonic sensor to detect and filter the environment information;2. multi-ultrasonic sensors detecting technique based on interrupt control;3. doing the on-line navigation study which is real-time detected by the ultrasonic sensor around the mobole robot environment.This paper is supported by Guangdong Provincial Natural Science Foundation of China (05001801).