Low-cost map building and obstacle avoidance of miniature reconnaissance robot

摘要

Miniature robots can't carry too many sensors for obstacle avoidance due to its small volume. In this paper, we applied the method based on low-cost local map for obstacle avoidance that uses infrared sensors and MPU6050. Firstly, we introduced the robot and its kinematic model. Secondly, proposed the criterion of robot be trapped. Thirdly, we studied the infrared data filtering with FIR filter and local map building. Fourthly, proposed the free movement area method for two wheeled robot route planning. Finally, we did the contrast experiment, result shows that the robot can escape from the U-shape trap that use the method applied in this paper while the traditional method can't.