Navigation and Slope Detection System Design for Autonomous Mobile Robot

摘要：

Autonomous mobile robot navigation is a hot research field in recent years. We design a four-tracked autonomous mobile robot with a main-controller based on ARM s3c2410 and sub-controller based on ATmega128. The navigation system consists of GPS, INS, ultrasonic and infrared sensors. The used of the GPS and inertial navigation system for autonomous mobile robot makes its navigation precision and performance increase greatly. A new local path planning algorithm is presented, which is based on artificial potential field theory. By using the infrared sensors installed in front of the robot, it can detect whether there is a slope and calculate the angel of the slope.

关键词： autonomous mobile robot GPS/INS local path planning algorithm slope detection.

作者: Boyu Wei Junyao Gao Kejie Li Hu Chen

作者单位: School of Mechatronical Engineering,Beijing Institute of Technology Beijing,Haidian,China

会议类型: 国际会议

会议名称: 2009 9th International Conference on Electronic Measurement & Instruments(第九届电子测量与仪器国际会议 ICEMI2009)

会议地点: 北京

会议语种:英文

页码: 3882-3886

在线出版日期: 2009-08-16（万方平台首次上网日期，不代表论文的发表时间）