Research On Alleviating The Sensor's Detecting Blind Area Of Self-guided Robot

Since the first robot was built in 1920s, robots are playing increasingly important roles in assisting people or taking the place of people in work, especially in dangerous or high-accuracy required or highly complex industries. Great achievements have been made in the researches of robotic technologies since 1970s. And the most obvious success was to join hands with computers which made the applications of robot much more intelligent and simplified and efficient in military and scientific research and industrial production.As one branch of robotic technologies, exploration of navigation and positioning of mobile robot has become the hot spot. Since mobile robot is demanded to move without collision towards the target in navigation, solutions of obstacle avoidance are required in the environment with obstructions. But blind zones do exist which makes obstacle avoidance very difficult in commonly used detecting technologies of self-guided and navigation robots. As little research work has been done around the world in this area so far, one freshly new idea to reduce these blind zones is introduced and methods of implementation are given in this paper. And comprehensive research work and discussions of these methods are presented. The main contribution of this paper is as follows.(1)The principles and applications of commonly used sensors and multi-sensor data fusion as well as technologies about self-guided and locating robots are discussed and analyzed in details.(2)The conceptions of sensor's detecting blind area, absolute blind zone and relative blind zone were defined. And their influences on the process of obstacle avoidance are studied in details.(3)Intercrossing and mixing types of sensors'distributing manners to reduce the detecting blind zone are offered. And specific models of intercrossing and mixing types of detecting methods are designed based on multi-sensor data fusion and traditional detecting ways. And applications of these models in obstacle avoidance are discussed in details. The results of the experiments show that these models are in high performance and have substantially enhanced the accuracy and efficiency of detection.(4)Two intelligent robots are designed to verify the feasibility and reliability of the methods to reduce detecting blind zone and the algorithms of obstacle avoidance given in the paper. Then the result are compared with the one of traditional detecting method and finally come up with the conclusion.