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计算机工程 ›› 2012, Vol. 38 ›› Issue (06): 172-174. doi: 10.3969/j.issn.1000-3428.2012.06.056

• 人工智能及识别技术 • 上一篇    下一篇

移动机器鼠沿墙导航策略与算法研究

查 峰,肖世德,冯刘中,龚云隆   

  1. (西南交通大学机械工程学院智能机电技术研究所,成都 610031)
  • 收稿日期:2011-08-26 出版日期:2012-03-20 发布日期:2012-03-20
  • 作者简介:查 峰(1986-),男,硕士研究生,主研方向:移动机器人智能控制,嵌入式控制;肖世德,教授、博士后、博士生导师;冯刘中,硕士;龚云隆,硕士研究生
  • 基金资助:
    国家科技重大专项基金资助项目(2010ZX04015-011)

Research on Wall-following Navigation Strategy and Algorithm for Mobile Mechanical Mouse

ZHA Feng, XIAO Shi-de, FENG Liu-zhong, GONG Yun-long   

  1. (Institute of Intelligent Electromechanical Technology, School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China)
  • Received:2011-08-26 Online:2012-03-20 Published:2012-03-20

摘要: 为解决移动机器鼠迷宫行走过程中存在的环境识别及分类处理问题,提出一种基于红外传感器的多模态沿墙导航控制策略和算 法。以机器鼠为硬件载体,在室内迷宫环境下进行导航实验,移动机器鼠能够较好地沿墙行走,抑制行走过程中的碰撞和失控现象。实验结果表明,该导航控制策略和算法具有较高的可靠性。

关键词: 移动机器鼠, 环境识别, 迷宫行走, 红外传感器, 沿墙导航, 多模态

Abstract: According to the environment identification and categories of mobile mechanical mouse walking the labyrinth, a multi-mode wall-following navigation strategy and algorithm for the mobile mechanical mouse based on infrared sensor is proposed. The strategy and algorithm are implemented on mechanical mouse in indoor labyrinthine environment. Experimental result shows that the mobile mechanical mouse can follow a wall smoothly, and collisions and out-of-control are effectively inhibited during walking. The proposed strategy and algorithm are verified to be high reliability.

Key words: mobile mechanical mouse, environment identification, labyrinth walking, infrared sensor, wall-following navigation, multi-mode

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