Design of Distributed Ultrasonic Ranging System for Autonomous Mobile Robot Based on Multi-Processor
Haiwen Zhao, Hegao Cai, Hong Yue, Yali Zhang · 2007
A novel distributed real-time ultrasonic ranging system for autonomous mobile robot based on multi-processor is designed and manufactured. This system consists of an upper work method control module and a lower intelligent ultrasonic sensor array. Each ultrasonic sensor is controlled by an individual micro-processor which achieves the functions: data processing, interference rejecting, malfunction alarm, and communication. The upper control module employs different control strategies to make the sensors grouped for working in parallel way. In the lower intelligent ultrasonic sensor array, data processing adopts threshold comparison, advanced data shift average filter, fuzzy information processing technology, and the same time, the sensors work in parallel method, which enhances the real-time performance, the accuracy and interference rejecting capability of the system. This system is equipped on the self-made RIRA-II mobile robot, and the collision avoiding experiment is achieved. The simulation and experimental results show the proposed system has high validity and reliability.This electronic document is a "live" template. The various components of your paper [title, text, heads, etc.] are already defined on the style sheet, as illustrated by the portions given in this document.