Experimental Investigation on Influencing Factors of the Measuring Accuracy in Ultrasonic Sensors of the Mobile Robot

摘要

In order to study influence rules of the obstacle's material, placed distance and deflection angle on the ultrasonic sensor ranging accuracy in the mobile robot, the quadratic orthogonal rotational combination design was carried out. The ranging data was collected by using ultrasonic sensors in the mobile robot, and then the changing curves and regression equations of various factors interaction were achieved. Through the variance and range analysis, the important order of factors that affected the ultrasonic sensor ranging accuracy was: placed distance, deflection angle, material in turn and the influence of material could be neglected; the optimal combination of these three factors was obtained that when the material was plastic, placed distance was 28.0cm and deflection angle was 3°, the distance measurement test was conducted and the ranging accuracy was reached the highest. The result could provide a theoretical reference for a mobile robot to improve the self-localization accuracy.