Robot Obstacle Avoidance And Localization Based On Ultrasonic Ranging Technology

Intelligent mobile robot technology is developed rapidly in the last decade across-disciplinary, multi-disciplinary technical support needs of mechanical design,electronic technology, computer and intelligent control. Mobile robot withautonomous navigation capabilities in the areas of the military exploration mission,hazardous EOD operations, industrial production and transport, intelligent life homeis more widely used. Mobile robot autonomous positioning and obstacle avoidance isa prerequisite and an important manifestation of intelligent mobile robot. Mobilerobot first be able to own their own conduct precise positioning, that is to know whereto be able to proceed to the next stage of the task action. Success to get the jobdestinations, reasonable path planning is a necessary condition, obstacle avoidancepath planning task in key technologies.With the development of sensor technology, a variety of distance-measuringsensor are Investigator on the mobile robot. Commonly used electromagnetic radar,laser radar, infrared sensors, ultrasonic sensors, vision sensors. Different sensors inmobile robot navigation and obstacle avoidance task has its own advantages anddisadvantages. In a complex operating environment, the mobile robot simply rely onone sensor is often not sufficient to achieve precise positioning and obstacle detectiontasks. At present, most of the researchers using multi-sensor fusion, and constantlyimprove the intelligent mobile robot technology.Ultrasonic ranging technology a detailed analysis, the use of three globalpositioning principle, modeled on the principle of GPS positioning system, the designof an ultrasound-based global positioning system. Ultrasonic positioning systemdesigned in this paper and digital magnetic compass, as a bridge to the Kalman filter,created a fusion methods to measure the heading of the mobile robot, and thesimulation of the program to prove its feasibility. Second obstacle avoidancetechnology based on ultrasonic ranging studies to determine the obstacle avoidanceinformation processing technology, as well as intelligent avoidance strategy.Finally, after tedious hardware design, the ultrasonic positioning system, andobstacle avoidance system integration for the two differential car, the initialrealization based on the Ultrasonic Ranging mobile robot positioning and obstacleavoidance.