METHOD OF DETERMINING TURNING ANGLE OF MOBILE ROBOTIC SYSTEM WHEN CLEARING OBSTACLES Russian patent published in 2016 - IPC B25J5/00 

FIELD: radio engineering, communication.

SUBSTANCE: in order to solve the task of detecting obstacles on the path of a mobile robotic system, ultrasonic sensors installed on the perimeter of the system are used. Before movement begins, the control system specifies the maximum obstacle detection range and a hysteresis zone is input, when the distance to the obstacle is on the boundary of the detection zone. After selecting the main direction of movement and beginning the movement, data from the ultrasonic sensors are continuously processed. After detecting an obstacle, the turning angle of the system is determined to perform a manoeuvre to bypass the obstacle, for which the system includes an analogue angular velocity sensor - a micromechanical gyroscope. In order to prevent the influence of the turning angle on the calculation accuracy, calibration procedures consisting of two parts are performed before using the system. The first part is zero calibration of the sensor and taking a constant adjustment X to the value of the angular velocity. The second part is finding scaling factors K1, K2 for calculating the values of the turning angle. To achieve the required accuracy, the digitised angular velocity signal is pre-filtered using a moving average method. To obtain the value of the angle, numerical integration of the value of angular velocity is performed taking into account a coefficient K.

EFFECT: high-accuracy determination of the turning angle for the further selection of the direction of movement.

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