Robocup Medium-sized Group Robot Non-vision Sensor System Design And Implementation

Intelligent robot becomes another research hotspot after the industry robot. As a carrier of the intelligent robots research, football robot conforms the development direction of the intelligentized robot. The research of autonomous football robot is being received more and more attention in the robotics field. Currently, the capability of environment perception & uncertainty reasoning has become the most important feature of an intelligent mobile robot.On the goal of establishing the RobCup autonomous robot football team of our school, we exploit non-vision sensor system of robot. This thesis focuses on the problem of environment perception, and some related issues are addressed by details, including sensing technology, environment perception. The main work of this research are as follows:Firstly, summarize the application background, development status and research significance of autonomous robot. The research background, structure and main work about the thesis are introduced also.Secondly, by means of analyzing sensing technology of mobile robotics, an robot non-vision system and its software & hardware experimental platform in our work are described in details.Thirdly, analyzes the math characteristic and the math model of ultrasonic sensor. For overcoming its uncertainty, by investigating the working mechanism and characteristic of sonar, a sonar data filtering method is presented.Finally, a design of a fast and accurate sonar-ring sensor for a mobile robot is proposed.