Ultrasound-based Robot Obstacle Avoidance And Target Tracking Method

Currently Robotics is one of the world most popular fields of study; many mature robot products have been widely applied in different areas. With the rapid development of various technologies which related to Robotics such as automatic control, computer, electronics, new materials, sensors, artificial intelligence and mechanical engineering; with the needs of social development, the application and function of Robotics is becoming more and more complex, using new theories, new methods and new technologies are also becoming more and more. Ultrasonic technology, this emerging technology, as a general technology based on physics, electronics, machinery and materials science, which grows up from an emerging, multidisciplinary marginal subject, has more and more chance to be applied in Robotics.In this paper, the main objective is to study the competition robot obstacle avoidance and target tracking methods based on ultrasonic sensors. Robot use two-wheeled mobile robots model. According to analysis and research about the application of ultrasonic technology, design and realized a robot obstacle avoidance and target tracking control system based on ultrasonic ranging principle, which fulfill the control task successfully in ABU2007.Firstly, according to the rules of the competition and the characteristics of ultrasonic technology applications identified several major research directions. Design objects recognition method and orientation principle and process.Secondly, did comprehensive design and research allover the system about obstacle avoidance and target tracking, which are include the design of the control strategy, the behavior patterns, sensor systems, information collect and process, anti-jamming measures, and so on.Thirdly, common obstacle avoidance control algorithms as the basis, combining the advantages and disadvantages of these algorithms, design a new fuzzy neural control algorithm about obstacle avoidance control.Finally, simulation and experiment results showed that the system of obstacle avoidance and target tracking based on ultrasonic technology is effective, reliable and stable. The actual performance of the robot in the competition showed that the control system achieved the requirements.