基于环形红外阵列的移动机器人自动跟随系统

为了实现在室内空旷环境中跟随机器人对移动目标物的定位和动态跟踪,设计了一种基于环形红外阵列的移动机器人自动跟随系统.利用具有主动式环形大视场的测距罗盘作为环境感知传感器.测距罗盘由数个红外测距传感器组成周向阵列,实现对360°环向10～80 cm范围内移动目标物的二维定位,使跟随机器人可以快速确定其与移动目标物之间的距...

Automatic following system of mobile robot based on annular infrared array

In order to realize the positioning and dynamic tracking of moving target in indoor open environment, an automatic following system of mobile robot based on annular infrared array was designed. The ranging compass with active annular large field of view was used as the environmental sensing sensor, which consisted of several infrared ranging sensors to form a circumferential array to realize the two-dimensional positioning of the moving target within the range of 10-80 cm in 360°annular direction, so that the following robot could quickly determine the distance and yaw angle between it and the moving target, so as to realize the accurate positioning of the mobile target. According to the position information of the target and using PD （proportion-differentiation） controller to control the movement of the following robot, the following robot maintained the relative distance and angle with the target, and realized the automatic following of the moving target. The mobile trajectory of the following robot and its detection of the surrounding unknown environment could be displayed in real time on the upper computer operation interface. It was proved that the ranging compass could effectively locate the target and meet the design requirements of robot following moving object. The reliability of ranging compass and automatic following system is relatively high, which can provide device support for robot cluster formation.