Application Of Multi-sensor Information Fusion In Obstacle Detection Of Mobile Robot

The development of sensors,computers,automatic control,artificial intelligence and other related technologies has promoted the progress of robot technology.Technological progress and market competition have promoted the increasingly wide application of robots,among which mobile robots have been widely used in the fields of industry,agriculture,medical treatment and intelligent security because of their functions of environmental detection,dynamic decision-making and control.Therefore,the research and application of mobile robot are getting more and more attention all over the world.In practical application,the ability of mobile robot to detect obstacles is an important index.In order to obtain the information of obstacles more accurately,comprehensively and in real time,the multi-sensor information fusion technology is adopted in this project to detect the obstacles of mobile robots,so as to realize the accurate assessment of the information of obstacles and lay a good foundation for further obstacle avoidance and task completion.An important indicator of robot intelligence is its ability to process uncertain information.Based on the multi-sensor information fusion technology,the obstacle information around the mobile robot is studied and analyzed.The system structure and kinematics model of mobile robot are described in this paper.By constructing the kinematic model of the mobile robot,the position and attitude of the mobile robot itself,as well as the azimuth Angle relative to the surrounding obstacles,can be obtained intuitively.The system structure also shows the functional properties and structural layout of the mobile robot modules.Then,ultrasonic,laser and visual sensors are used to measure the distance of obstacles in the unknown environment.The information reading and difference of ultrasonic and laser sensors as well as image acquisition and image preprocessing of visual sensors were analyzed.Finally,kalman filter algorithm is used to fuse the obstacle information collected by three kinds of sensors to determine the location,depth and shape of the obstacle.The simulation is carried out on Matlab and compared with the actual platform.The results show that this method has high precision in obstacle detection of mobile robot,which verifies the effectiveness of this method in obstacle detection of mobile robot.