狹窄區域偵察和大面積探測在軍用和民用領域都有著較大的應用需求，這使得微小型
自主機器人成為了研究熱點之一。然而，體積和重量的限制導致微小型機器人運算能力、通信能力和傳感能力十分有限，因此，微小型自主偵察機器人控制系統的設計成為難題。在微小型自主偵察機器人BMS-1 中，通過配置不同傳感器和采用適當的控制算法，實現了避障和尋找并躲避在隱蔽處等基本自主行為，最后進行了實驗測試和得出了相關結論，提出了本文的創新所在。
關鍵詞：微小型機器人 自主行為 控制系統
Abstract: Secret surveillance in tightly constrained spaces and large-scope detection are demanded in? many military and civilian activities. These special applications make miniature autonomous robot as one research foucus. However, the crucial problem resulted from the small volume and light weight of miniature robots makes they possess very limited computation, communication and sensing resources. So the most challenge is how to design the control system for miniature autonomous robots. This paper presented a kind of miniature autonomous surveillance robot (“BMS-1”, BIT MicroScout-1) for indoorreconnaissance tasks. By multiple sensors and some arithmetical models, BMS-1 implemented some basic autonomous behaviors, including avoiding-obstacles and finding-cover. Several experiments were done and some conclusions were drawn.
Key Words: Miniature robots Autonomous behavior The control system
CLC Number: TP242.6 Document Code: B