Use of Ultrasonic Sensors to Enable Wheeled Mobile Robots to Avoid Obstacles

摘要

In this work, ultrasonic sensors are adopted to implement a real-time obstacle avoidance system for wheeled robots, so that the robot can continually detect surroundings, avoid obstacles, and move toward the target area. Secondly, six ultrasound sensors installed on the wheeled robot were utilized to detect large obstacles and to obtain distance information between the robot and the obstacle. The PD controller was used in the wall-following method to achieve the optimized path design. Experimental results verified that ultrasonic sensors of the obstacle avoidance system on the wheeled robot, with ATMega162 embedded microcontroller as the core of the system, can indeed help avoid obstacles and reach the established target area.