The Design Of Ultrasonic Measurement System And Its Application On A Mobile Robot To Avoid Obstacle

The research on Autonomous Mobile Robot (AMR) is one of the emphases of mobile robot research. And to obtain the entirely autonomous Mobile Robot ,which is to say, the robot can achieve every aptitude task ,to avoid obstacle successfully is the most basal requirement. The thesis mostly introduces a ultrasonic measurement system and its application on mobile robot to avoid obstacle.In chapter 1, the world research situation on mobile robot and the applications of mobile robot in different fields are discussed. The 3 developing periods and international research situation on robot technology are introduced. With that, the robot researching situation and tactic plans at home are set out. The thesis also generally introduces and sums up ultrasonic measurement's application on robot's navigation and so on. Finally, the thesis advances the research's meaning and relates its mostly content.In chapter 2,the thesis introduces the entire hardware system. The entire hardware system makes ATmega128 control core, including direct machine, power supply and so on. This part just is the hardware flat for ultrasonic measurement and robot's fuzzy avoid obstacle, so, the thesis does not make deep research and design.In chapter 3,the thesis particularly introduces ultrasonic measurement system. The element of ultrasonic measurement is to measure certain distance with reflected wave on condition that the speed of transmitting wave is fixed. This part the technique of expatiates ultrasonic measurement and its application, introduces material software and hardware designs of ultrasonic measurement system. In order to raise the ultrasonic measurement's precision, it takes measures such as temperature compensation. In chapter 4, the thesis discusses fuzzy arithmetic to a sonar-based obstacle avoidance mobile robot. First, it introduces the fuzzy control theory, on which fuzzy rules of robot's avoid obstacle are based, and uses the ultrasonic measurement's result to make robot achieve avoid obstacle.The general picture is drawn in the last chapter and the research directions in this field for the future are also indicated in this part.