Research On Obstacle Detection And Position Of Mobile Robots Based On Multi-Sensor

Mobile robot is an important branch in the technological field of the robot.It refers to computer science,automation,mechanism,electronic science.In the mobile robot technology research, the real-time obstacle avoidance and path planning are the important research aspects of the mobile robot. By the motor of Shanghai Ingenious Automation Co,Ltd, the article researchs for mobile robot navigation system based on cameral visual sensor and ultrasonic sensor as a major obstacle and distance detection sensors, and integrates the information of two sensors to complete the robot motion control,and achieves the second development Of the exsiting platform,all this has a theory and practical significance. There are five primary aspects about this article as below:(1)it has give a brief overview to the status of motive robot investigation and the development of mobile robol.Then introduced the various sensors which often be used in mobil robort, and how to choose the appropriate sensor for the environment information detection.Comparing each kind of sensor and considering the distribution of MT-R robot in the laboratory, we choose the ultrasonic sensor and the CCD vision sensor to compose the robot sensor system.(2)it has clarified the research platform, the composition of the MT-R robot system.Introduced the robot consisting of the hardware system, the shape and size of the mechanical system, the electronic system components and the part of the function, and done a simple introduction of the robot software approach.(3) it has expounded on the distance ultrasonic detection principle and designd the ultrasonic testing interface, and the results of obstacle avoidance are given.,advanced the "desk hole" effect of the ultrosonic sensor distance test,it must combine with other sensor to achieve better obstacle avoidence results.It has described the visual image processing, mainly including three modules of image acquisition, image preprocessing, feature extraction, and combined with image processing matlab software we got the results of obstacle edge information; We set up the camera model, the coordinates of the conversion, get the relationship between the image coordinate X', Y'and space coordinates of the worldle X, Y, combining the software to calculate the actual obstacle width and height information for robot position and path planning.(4) it has introduced the key technology of the mobile robot:multi-sensor information fusion technology,and give a brief introduction to multi-sensor fusion method, proposed advantages and disadvantages of each fusion method,suggested an improved fusion algorithm for the present study.(5)it has intrduced and designed the related software.(6) it has summarized the major research work of the paper, analysed the existing problems in-depth, and give the further research work...