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1、AbstractABSTRACTAtpresent,Withthedevelopmentofrobottechnology,therobotintelligencebecomesmoreandmoreimportant,therefore,itisanimportantindicatorfortherobotintelligencetoavoidobstacles.Thisarticleusestheultrasonicsensortorealizethecontrolofroboticavoidingo
2、bstacles.Firstly,wedesignanultrasonicrangingsystemtoprobetheenvironmentoneverysideoftherobot,andanalysistheobstructioninformationbybuildinganoverallsituationcoordinate.Secondly,acontrolalgorithmhasbeenworkedouttoaccomplishpaternrecognition.Lastly,avoiding
3、obstaclesystemhasbeenappliedonthecrawlrobotandintelligentwheelchairbytheexperiments,thenindependentlyrealizestheavoidingobstacle.Thecontentasfollows:withtheaccuracyof士5centimeters,Use51micro-chiptodesignameasurementrangingsystem,whichsatisfytherequirement
4、ofblockeravoidingcontrols.Inordertoincreasethemeasurementprecisionofsingleultrasonicsensoranddecreasetheinterferencedegreeproducedbymultipleultrasonicsensors,wehaveadoptedthemethodofmanysensorstimedivisionmeasuresonthehardwareandsettheisolationinterposedt
5、imetodecreasesysteminterferenceonthesoftware.,ThispaperalsopresentsaFuzzy-CMACrecognitionalgorithm,whichusedtoachieveautonomousobstacleavoidanceofamobilerobot.ThroughthecombinationofheuristicfuzzyruleswiththeCMACnetwork,aheuristicfuzzy-neuronetworkisdevel
6、oped.Byapplyingtheoff-lineandunsupervisedtraininginthismethod,webuilduppatern-mappingbetweenultrasonicsensoryinputdataandvelocitycommand.Thus,themobilerobotrealizescontinuousandfastmotionforobstacleavoidance.Finally,avirtualenvironmenthasbeenbuiltandtheem
7、ulationhasbeeninprogressinMATLAB.Inordertoverifytheeffectivenessoftheseproposedmethods,thispapergivestheresultsofobstacleavoidancethroughtheexperimentsincrawlrobotandintelligentwheelchair.Theresultsshowthatthesystemmeetstherequirementsofobstacleavoidance.
8、Keywords:ultrasonicsensors;robot:paternrecognition;fuzzy-CMACcontrol;obstacleavoidance;simulation11学位论文独创性声明学位论文独创性声明本人声明所呈交的学位论文是本人在导师指导下进行的研究工作及取得的研究成果。据我所知，除了文中特别加以标注和致谢的地方外，论文中不包含其他人己经发表或撰写过的研究成果，也不包含为获得南昌大学或其他教
