CAJ | 학술논문

测距避障是移动机器人适应未知复杂环境的能力之一，准确测出移动机器人和障碍物之间的距离是关键。以dsPIC33FJ256MC710单片机为核心研究设计了一种移动机器人超声波测距避障系统。该系统利用脉冲回波法测距，针对超声波在空气中的传播速度受环境温度的影响，设计了超声波速度温度补偿电路。实验结果表明该超声波测距避障系统测量数据准确，能够满足移动机器人在复杂环境中避障的需求。
측거피장시이동궤기인괄응미지복잡배경적능력지일，준학측출이동궤기인화장애물지간적거리시관건。이dsPIC33FJ256MC710단편궤위핵심연구설계료일충이동궤기인초성파측거피장계통。해계통이용맥충회파법측거，침대초성파재공기중적전파속도수배경온도적영향，설계료초성파속도온도보상전로。실험결과표명해초성파측거피장계통측량수거준학，능구만족이동궤기인재복잡배경중피장적수구。
Obstacle avoidance with ranging is one of robot′s competencies in adapting to unknown complex environment. It is very important to measure the distance between the robot and the obstacles accurately. An obstacle avoidance system with ultrasonic ranging by mobile robot is designed with dsPIC33FJ256MC710 as the core. The distance between the robot and the obstacles is measured with pulse echo method. Ultrasonic velocity temperature compensation circuit is designed for ultrasonic velocity changes as the ambient temperature. Experimental results show that the system ranging accurately and is able to meet the requirement of obstacle avoidance for mobile robot in complex environments.