Research On The Mechanism Of The Whisker Sensor For The Mobile Robot

With the development of sensor technology for mobile robots, whisker sensors have been studied by domestic and foreign researchers. A lot of researches which have been done abroad proved that whisker sensors have become an important component of the intelligent robot.Based on studies abroad and mechanism of whisker of rodents, the whisker sensor was designed and then with it the following studies and experiments have been done:1. The principles of whisker sensor made by international scholars were put forward, and based on whisker's structure of rodents a novel whisker sensor was developed. Unlike previous rigid whisker sensor, flexible whisker was used and it is more consistent with the structure of rodents.2. The whisker sensor system based on PC was achieved. The motion of mobile robot could be controlled using it and real-time sensor data acquisition could be achieved, and then some basic experiments also could be accomplished. However, it could serve as a platform for sensor calibration.3. The theory of contact position on the flexible whisker when it contacts objects was brought forward. Vibration model was analyzed based on vibration theory and relation between contact position and natural frequency was educed.4. The test experiments of PSD showed the linearity of PSD is excellent and it could completely meet the demand for sensor system. Through a lot of experiments of distinguishing contact position, the relation between contact position and vibratory frequency was proved.5. Some technology for avoiding obstacles was introduced, and then the advantage of the whisker sensor was analyzed. Then an experiment of avoiding obstacles was completed using whisker sensor.