Identification of the Obstacle Shape Using the Ultrasonic Sensors Module of Modular Mobile Robot

Abstract

This paper shows the results of the study, the purpose of which is to solve the problem of identifying the shape of an obstacle and its orientation in a certain coordinate system using a sensor system of a modular mobile robot consisting of ultrasonic sensors. . Two implementations of the sensor system are considered: the ultrasonic sensor is located on the pivot-tilt mechanism controlled from a microcontroller; a multitude of ultrasound sensors is located along the perimeter of the robot sensor module. In the first case, the form of the obstacle is determined by scanning the surrounding space with one sensor; in the second case, all ultrasonic sensors are simultaneously firing and, based echo analysis the relief of the surrounding space is constructed, thereby performing a parallel scanning over the range of the territory. Experiments are show that the echo analysis of ultrasonic sensors with using the microcontroller is able to determine not only the azimuth of the obstacle, but also its shape such as the external (convex) corner, the internal (concave) corner, the flat wall, the doorway with the open door, the object of round shape and etc., and their orientation in some coordinate system.

Control System Mobile Robots with Modular Architecture as a Multi-Agent System with a Hierarchical Topology

“…SRSM (with indices 3.2.1) is most rational to realize on ultrasonic distance sensors that can be located along the perimeter of the MR and create a range map. An example of such a sensor module is given in [19]. Due to the large computational complexity of simultaneously processing ultrasound signals from multiple ultrasound sensors (agents with an index of 6.2.1), this processing is parallelized by using a similar pyramidal architectureagents of the 4th and 5th levels (with indices 4.2.1 and 5.2).…”

Organizing Network Interaction in Modular Robot with Multilevel Control System

“…Let us consider this approach on the examples of the main functional modules of MR (see fig. 1): functional blocks of the transport module [6], of the short-range and longrange sensor module [7], and of the power module. The proposed schemes of the modules are shown in fig.…”