Design of a Distributed Ultrasonic Detecting System Based on Multi- processor for Autonomous Mobile Robot ∗

Abstract

Abstract:- To improve the real-time and accuracy performance of the environment detecting system for autonomous mobile robots, and robustness of robot control, a new distributed real-time ultrasonic detecting system for autonomous mobile robot based on multi-processor is designed and manufactured. This system consists of a high-level work method control module and an intelligent ultrasonic sensor array acted as the subsystem. In the sensor array, each sensor is controlled by an individual micro-processor which completes the functions such as real-time data processing, interference rejection, malfunction alarm, parallel communication, and etc. Based on different control strategies, the high-level work method control module decides the sensors at different sides can be grouped to work in parallel way. In this system, data processing adopts “Threshold Comparison”, “Advanced Data Shift Average Filter ” and EERUF methods. These methods have improved the real-time, precision performance, reliability of the system, and robustness of mobile robot control. The simulation and experimental results show the proposed system has high validity and reliability. Key-Words:- ultrasonic sensor, multi-microprocessor, distributed system, interference rejection, autonomous