| Mobile robot is an important branch in the technological field of the robot.It refers to computer science, automation, mechanism, electronic science.In the mobile robot technology research, navigation technology is the core of its research. Because of the ultrasonic measurement technology having obvious advantages and good for the price, it has been extensively applied in the mobile robot navigation, however, due to limitations of the ultrasonic sensor, a single sensor can not always accurately percept the surrounding information, in order to comprehensively and accurately detect the surrounding environment, the author design an autonomous mobile robot system based on multi-ultrasonic sensors in this paper. This system provides the hardware development platform for the mobile robot positioning technology based on ultrasound and the mobile robot path planning technology. After the completion of autonomous mobile robot hardware design,this paper also do some research about the fuzzy cover barrier technology based on ultrasonic sensors. The main contents include the following aspects:First of all, the mobile robot research status and development trends at home and abroad are described, and also point out that ultrasound navigation technology has been widely used in the field of mobile robots. By referring to a variety of mobile robot system, the author design an autonomous mobile robot system based on multi-ultrasonic sensors. This system has Bus architecture, modular design and easy to maintain and extend. The main function modules include: power systems, motor drives and state control module, ARM control systems, ultrasonic ranging module, wireless communication module, electronic compass module, LED display modules. In this paper, each module design is detailed described, as to the functional modules design, hardware design and software design are also detailed described. Base on a profound understanding of the traditional design, some creative researches about the study are indicated.Then, several important technologies in the mobile robot system, which is dead reckoning, multi-ultrasonic detection, embedded system, 485 communication system based on ModBus protocol were studied. After completing the design of an ultrasound mobile robot navigation system, the author do some research about fuzzy and fuzzy control technology, and make this fuzzy control technology apply to the ultrasonic multi-sensor robot systems. With the fusion of multi-ultrasonic sensors ranging information, we can calculate robot obstacle distance from three directions, according to the fuzzy rules, we can make the robot to avoid obstacle, and also do some simulation of the results of the study.Finally, the work in this paper is summarized and some creative researches about the study are indicated, besides, the topics about the future development trends and research directions are indicated. |
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