mobile_robot
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mobile_robot [2016/10/17 09:56] wlgns5220 created |
mobile_robot [2016/10/17 13:20] wlgns5220 |
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| Ultrasonic sensors are widely used in mobile robot applications to recognize external environments by virtue that they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding of ultrasonic signals, which allows multi-sensors to be emitted simultaneously and adjacent objects to be distinguished. Accordingly, this study presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented. A microcontroller unit is implemented using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.\\ | Ultrasonic sensors are widely used in mobile robot applications to recognize external environments by virtue that they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding of ultrasonic signals, which allows multi-sensors to be emitted simultaneously and adjacent objects to be distinguished. Accordingly, this study presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented. A microcontroller unit is implemented using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.\\ | ||
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| - | {{http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile%20Robot/Ultrasonic_Sensors.jpg}} | + | {{:pasted:20161017-131755.png}} |
| ===== Steering-by-Tether and Modular Architecture for Human-Following Robot ===== | ===== Steering-by-Tether and Modular Architecture for Human-Following Robot ===== | ||
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| effectively, ZigBee wireless communication technology is also implemented.\\ | effectively, ZigBee wireless communication technology is also implemented.\\ | ||
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| - | {{http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile%20Robot/Human_Following_Robot_1.jpg?400x300}} | + | {{:pasted:20161017-131802.png?400}} |
| - | {{http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile%20Robot/Human_Following_Robot_2.jpg?400x300}} | + | {{:pasted:20161017-131805.png?400}} |
mobile_robot.txt · 마지막으로 수정됨: 2016/10/17 13:27 저자 wlgns5220
별도로 명시하지 않을 경우, 이 위키의 내용은 다음 라이선스에 따라 사용할 수 있습니다: CC Attribution-Share Alike 3.0 Unported
