Navigation system of security mobile robot based on FM millimeter wave

被引：0

作者：

Zheng R. ^{[1
,2
,3
]}

Li F. ^{[1
,3
]}

机构：

[1] College of Physics and Electronic Information, Anhui Normal University, Wuhu

[2] School of Instrument Science and Engineering, Southeast University, Nanjing

[3] Anhui Province Engineering Laboratory of Intelligent Robot's Information Fusion and Control, Wuhu

来源：

Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument | 2021年 / 42卷 / 03期

关键词：

FM millimeter-wave; Navigation; Security robot; Segmentation clustering method; Triangulation;

D O I：

10.19650/j.cnki.cjsi.J2007261

中图分类号：

学科分类号：

摘要：

As the application field of security robots are expanded, the complexity of their working environment increases. In special environments such as smoke, dust and dark, the navigation system with visual and laser navigation manners are no longer applicable. Aiming at this problem, based on the research on the principle of the distance measurement with millimeter-wave radar, firstly, the research of two pulse canceller is carried out to filter out the static clutter. Then, a dynamic threshold detector is designed to accurately obtain the distance between the millimeter-wave radar and mobile robot. In order to improve the navigation accuracy, a segmentation clustering method is proposed to process the distance data set. Finally, a security robot navigation system based on the principle of triangulation was designed. Experiment results show that using the segmentation clustering method, the robot navigation accuracy is higher compared with that using the mean method. The robot can operate along the set straight and curvilinear lines in smoke and dark environment. The navigation error is about 0.11 m. © 2021, Science Press. All right reserved.

引用

页码：105 / 113

页数：8

共 17 条

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