Research On Obstacle Avoidance Of Mobile Robot Based On Laser Radar

With the development of sensor technology,manufacturing level,advanced control theory,and the increasing demand of the industry,the robot industry has begun to flourish.Thus,for a variety of fields,the environment of the robot came into being,which the mobile robot can replace manual labor in many dangerous environments,such as earthquake relief,exclusion of explosives and on the battlefield to perform military tasks and so on.Research on obstacle avoidance of mobile robots has important significance for the mobile robot to complete the above tasks.The software and hardware design of the mobile robot obstacle avoidance system based on single line laser radar sensor is completed in this thesis.The MCU as the control core of mobile robot hardware platform,used to decode the PC machine control commands sent,and then send the control signal corresponding to the brushless motor driver to drive brushless motor,finally realizes the control of mobile robot.The working characteristics of the single line laser radar sensor are learned in this thesis.In order to enhance the contrast,then the characteristics of research on ultrasonic proximity switch sensor,real-time display and interface design of the sensor information environment data back on PC.In the design of obstacle avoidance algorithm,the data of the sensor interface display area is divided into emergency obstacle avoidance,obstacle avoidance area and away from the obstacle avoidance area,encoding the environment information of obstacle avoidance behavior in different regions take different actions to avoid.The experimental results show that the single line laser radar sensor is more comprehensive,faster and farther than the ultrasonic sensor in the field of data acquisition.The obstacle avoidance control system based on the single line laser radar sensor is designed in this thesis,and the software dynamic link library package design is also carried out based on the system.The experimental results show that the obstacle avoidance control system meets the requirements of the wheeled mobile robot,and it also enhances the cross platform development of the system and the convenience of the algorithm.In addition,with the system as a platform,the mobile robot obstacle avoidance system based on BP neural network is designed under the information of environmental obstacles provided by single line laser radar.In the indoor environment and corridor were related to obstacle avoidance experiments,experiments show that the obstacle avoidance control algorithm to enhance the self-learning ability of the whole system of the BP neural network,which could realize the collision free from the starting point to the target point movement.