Experimental Study of Obstacle Avoidance on Service Robot Based Filtering Algorithm
Zhao Jian-we · Machinery Design and Manufacture · 2015
The indoor environment is complex,and the control of service robot obstacle avoidance is facing increasing challenges. From the two aspects of the mechanical structure and electrical system,designs a humanoid robot service entity that can work indoors. In view of that the traditional digital signal processing are almost uniform sampling or weighted method to describe the digital signal characteristics,which causes computer spend a lot of time when processing the information,the robot reacts lag. Robot obstacle avoids more precise conditions under control in the indoor. Thus,complex filtering algorithm is proposed,which based on the combination of Pauta criterion and arithmetic average filtering algorithm,makes full use of effective information of sensor observations,and completed the complex indoor environment experiment. Finally,using three kinds of filtering algorithm for dynamic and static comparative study based on the experimental platform to verify the effectiveness of the algorithm and the robot can avoid the obstacle of complex precision indoor.