Research Of Dynamic Obstacle Avoidance Algorithm For Mobile Robot Based On Sensor Information Fusion

With the wide application of robots in industrial production,the requirement of security is also increasing,so the dynamic obstacle avoidance becomes one of the most important functions.Therefore,the research on the dynamic obstacle avoidance of mobile robot is very important and valuable.This thesis completed the overall design based on the research on the dynamic obstacle avoidance of mobile robot,then,according to the overall scheme,the environment detection sensor,the internal detection sensor,the bottom controller and the upper computer are determined.Besides,the main task of this thesis is analyzed,and the contents of each chapter are arranged,the emphases are put on two aspects: the improvement of ultrasonic noise elimination algorithm and the improvement of dynamic obstacle avoidance algorithm.In the research of EMD(Empirical Mode Decomposition)wavelet denoising algorithm,aiming at the defects of low signal noise ratio and low reduction degree,this thesis proposed an improved EMD wavelet denoising algorithm based on PCA(Principal Component Analysis).The algorithm extracts the principal component of the signal according to the signal energy ratio,then,it can further eliminate the noise and retain more useful signals.The experimental results show that the improved algorithm can improve the signal to noise ratio and the reduction degree.In the research of VFH+(Vector Field Histogram +)dynamic obstacle avoidance algorithm,aiming at the defects of inaccurate boundary obstacle detection,this thesis proposed an improved predicted VFH+ dynamic obstacle avoidance algorithm based on local fan map.In this method,the boundary obstacle detection range is expanded by the local fan map,so as to improve the accuracy of obstacle detection and improve the safety of obstacle avoidance.The experimental results show that the improved dynamic obstacle avoidance algorithm can identify the obstacle traps more accurately,and avoid the dynamic obstacles more safely.Finally,according to the performance requirements of the dynamic obstacle avoidance system,this thesis designs and implements the embedded control board,including the two control boards based on two STM32 chips and peripheral interface board which is used to connect each sensor and the host,besides,the embedded control programs and the upper algorithm programs are designed.Then,the improved denoising algorithm and dynamic obstacle avoidance algorithm are implemented on this platform.The experimental results show that the system has better stability,and validate the effectiveness and reliability of the proposed scheme.