Study On The Key Technologies For Ultrasonic Navigation Mobile Robot

This dissertation is about the research of ultrasonic navigation mobile robot. The mechanical, software and hardware platforms are designed. The several key technologies including the ultrasonic ranging, simple object recognition, robot localization, path planning and multi-sensor data fusion methods in the field of ultrasonic navigation mobile robot are researched. The details are presented as below:Chapter 1, briefly describes the newest research of mobile robot at home and abroad, and analyzes the hotspot of mobile robot field. The contents and emphases of this dissertation are advanced.Chapter 2, based on the design of mobile robot, the derailleur is used. This mobile robot has three wheels. The back two are driving wheels and the front one is oriented wheel. At the same time, considering the characters of the mobile robot and the application of the ultrasonic navigation technology, the TI corporation's DSP of TMS320F2812 is used to carry the development of hardware and software. Besides the controlling of robot's diversified movements, the system have the abilities of multi-channel ultrasonic signal transmitting, receiving and analyzing (including localization and path-planning), also the wireless communication, which supply the necessary platform for the late research.Chapter 3, the key technologies of ultrasonic navigation mobile robot are studied. Because the core of the dissertation is the measurements of the distance, figure and pose of the obstacles with ultrasonic sensors, the mapping, obstacles avoidance and navigation of mobile robot which based on ultrasonic are realized. The generalized auto-correlation method based on wavelet transform (WT) is put forward to realize the real-time ultrasonic velocity measurement, and this method can eliminate the influence of temperature, humidity and wind on ultrasonic velocity measurements when the robots are working in dynamic condition. Base on the design of ultrasonic sensors, the ultrasonic echo characters, mirror reflect and image theories, analyzing the time space of ultrasonic reflection waves, calculating the object surface radius, the target surface style can be classified as the plane, edge or cylinder. The localization, path planning and multi-sensor data fusion methods are studied.Chapter 4, the system performance of ultrasonic navigation mobile robot is evaluated. The experiment of mobile robot navigation in corridor and indoor conform the validity of ultrasonic navigation technology.