Environmental Modeling Based on Ultrasonic Ranging

摘要：

　　In order to deal with the conflict of the robot high-performance implementing the task in an uncertain environment,environmental modeling method based on ultrasonic ranging was adopted.By the complex environmental modeling mean of combining the methods of grid and geometry,relying the measurement data of the adjacent multi-ultrasonic and the correlation among the data,the environmental modeling was established effectively.The modeling characteristics analysis showed that:the robot can easily make obstacle avoidance,path planning and decision-making in the grid-based modeling.The accuracy of the modeling is high,and it can detect and update the complex regional expediently.The environmental modeling based on ultrasonic ranging can effectively solve the problem of mobile robot implementing the tasks efficiently in the actual complex environment.

关键词： mobile robot ultrasonic ranging sensor environment modeling grid-based map

作者: JunHui Wu TongDi Qin HuiPing Si Jie Chen KaiYan Lin ChiBin Zhang

作者单位: Institute of Modern Agricultural Science & Engineering,Tongji University,4800 Caoan Hwy,Jiading,Shan Institute of Mechanical Engineering,Southeast University,79 Suyuan Hwy,Jiangning,Nanjing,P.R.China

会议类型: 国际会议

会议名称: 2013 International Conference on Energy Research and Power Engineering(2013能源研究与电力工程国际会议)(ERPE2013)

会议地点: 郑州

会议语种:英文

页码: 1308-1313

在线出版日期: 2013-05-24（万方平台首次上网日期，不代表论文的发表时间）