9 / 2016-05-18 18:01:10

基于超声波双探头测距差值的目标方向估计

摘要：超声波在移动机器人导航、定位等方面已得到广泛应用，但由于常规超声波探头难以形成尖锐指向性因而无法直接获得目标方向信息，需要通过2个或多个相隔一定距离的超声波探头采用几何测向算法实现，这造成在小尺度移动机器人平台上应用的不方便。本文考虑到小尺度移动机器人的超声波测向需求，提出利用成一定夹角紧密相邻的两个超声波探头获得的测距差值进行目标方向估计，通过对超声波双探头发射、接收过程的理论建模与分析进行算法的理论推导，并利用实验数据验证了本文方法的有效性。
Abstract: Ultrasound has been widely used in mobile robot navigation and positioning. But conventional ultrasonic sensor is difficult to form a sharp beam, and is difficult to obtain the directivity information of the target. Thus two or more ultrasonic sensors located separately are needs to obtain the direction of target by using the geometrical direction finding algorithm, thus it is inconvenient to apply in a small-size robot platform. In this paper, considering the need of direction finding in the small mobile robot, we proposed to use two closely located ultrasonic sensors with a fixed crossing angle to obtain the difference of their ranging values, then estimate the direction of target with the ranging difference. The theoretical derivation of the method is provided theoretically. Finally, experimental results are provided to verify that the method is effective.