微小型自主侦察机器人控制系统设计

狭窄区域侦察和大面积探测在军用和民用领域都有着较大的应用需求，这使得微小型
自主机器人成为了研究热点之一。然而，体积和重量的限制导致微小型机器人运算能力、通信能力和传感能力十分有限，因此，微小型自主侦察机器人控制系统的设计成为难题。在微小型自主侦察机器人BMS-1 中，通过配置不同传感器和采用适当的控制算法，实现了避障和寻找并躲避在隐蔽处等基本自主行为，最后进行了实验测试和得出了相关结论，提出了本文的创新所在。
关键词：微小型机器人 自主行为 控制系统
Abstract: Secret surveillance in tightly constrained spaces and large-scope detection are demanded in  many military and civilian activities. These special applications make miniature autonomous robot as one research foucus. However, the crucial problem resulted from the small volume and light weight of miniature robots makes they possess very limited computation, communication and sensing resources. So the most challenge is how to design the control system for miniature autonomous robots. This paper presented a kind of miniature autonomous surveillance robot (“BMS-1”, BIT MicroScout-1) for indoorreconnaissance tasks. By multiple sensors and some arithmetical models, BMS-1 implemented some basic autonomous behaviors, including avoiding-obstacles and finding-cover. Several experiments were done and some conclusions were drawn.
Key Words: Miniature robots Autonomous behavior The control system
CLC Number: TP242.6 Document Code: B