Multisensor Information Fusion Used In Avoiding Obstacle Of Mobile Robot

Multisensor information fusion is a developing practical technology around the world, and widely used in many fields. It is a valuable tool for Information Process and Decision Support in these fields. The navigation of mobile robot based on the Multisensor information fusion is researched in unknown circumstance. To achieve the navigation in unknown or uncertainty circumstance, mobile robot should have the ability of apperceiving the task circumstance and path planning. This paper used the fuzzy neuron networks based on the Takagi-Sugeno(T-S) model in the avoiding obstacle of mobile robot. In this paper, multisensor information fusion are discussed based on the navigation of mobile robot and the main achievements are presented as follows: 1.This paper expounds the generation and the development of the information fusion. Then generalize the study status quo. Through the introduction of the real application of the information fusion on the mobile robot, this paper generalizes the developing direction in the future of the information fusion. Through analyzing the application of the fuzzy neuron network information fusion, fuzzy neural network information fusion based on the T-S model is used in avoiding obstacle of mobile robot. 2.The information fusion is systemic researched. The basic concept and the theory of the multisensor information fusion are discussed and the problem in allusion to the topology and the layer of information fusion is discussed. In allusion to the application of the sensor, the feel system is introduced, the quantity of the sensor and the variety of the sensor are discussed. 3.The control system of the robot is researched. The control object is presented. Through the introduction of the control system of the mobile robot at present, the control system in this paper is presented. Based on this, the function module is demarcated, and the movement of the mobile robot to achieve is confirmed. 4.The fuzzy neuron network information fusion is introduced, and the fuzzy neuron network information fusion based on the T-S model is used in avoiding obstacle of mobile robot. The physics model of the mobile robot is set up. The sensor used in the avoiding obstacle of the mobile robot is selected. The circumstance type and the method of the navigation are confirmed, and the simulation experiment is made.