The Obstacle Avoidance Algorithm Based On Mobile Robot

With the rapid development of science and technology, robots have been used more and more in people's daily life. The important of the researching is how to make the mobile robot in the process of implementation of its mandate more efficient and accurate to avoid obstacles, this paper uses two kinds of sensors as the way to research the mobile robot in unknowing environment avoiding obstacles.This thesis analyzes the present situation of mobile robot obstacle avoidance algorithm, with emphasis on the mobile robot obstacle avoidance system design, obstacle avoidance strategy, hardware platform building and verify through simulation and experiment. The main content of this thesis includes the following:First of all, design mobile robot avoidance system base on infrared distance sensor and CCD camera, analyze multi-sensor integration and design the fusion method of two kinds of sensor.Second, in order to verify the reliability and practicality in the obstacle avoidance algorithm and two sensors using of the mobile robot, designed and built a mobile robot control platform-drive.At last, researched the mobile robot avoidance strategy, demonstrated a monocular vision measuring method based on the geometric location and proposed mobile robot avoidance process, analyzed the collision site selection and local path planning, so that the mobile robot can better bypassing obstacle and finishing its task, and verified it though simulation and experiment.