Design And Study Of Indoor Mobile Robot Based On Multisensors Fusion

In recent years, the mobile robots have been used more and more widely, and research on them has increased correspondingly. An important research part of mobile robot is self-contained navigation and avoiding obstacle. On the base of a general overview of the multiple sensor information fusion technology, the thesis introduces the development of this technology and applied situation in mobile robot field. The common multisensors information fusion technology includes weighted average methods, Kalman filtering methods, Bayes-method, Dempster-Shafer evidential reasoning, fuzzy set theory, neural networks techniques, and so on.Based on the development of mobile robot control system , this thesis explains the hardware structure of the mobile robot .The robot has 3 wheels, the front-wheel is directive wheel and the other two back wheels are used to drive the robot to walk. The stepper motor is used to drive the robot to walk, and the chip of special stepper motor is TA8435.The major hardware of robot include MCU, stepper motor, ultrasonic ranging sensor, infrared proximity sensor, switch sensor etc. This robot can apperceive external environment with the 3 sensors above. The infrared proximity sensor and ultrasonic ranging sensor can effectively get the distance information between the robot and the obstacle, and the other information that the infrared proximity sensor and ultrasonic ranging sensor can't get can be collected by the switch sensor.The author makes use of the simple and effective arithmetic suitable to indoor environment to fuse the data got by the 3 sensors on the base of indoor environment characters. MCU makes corresponding decision to detect all the stumbling blocks in the indoor environment and then achieve the function of avoiding obstacle and navigation in unknown environment according to result of combination. To meet the needs of the navigation in the indoor environment, the writer designs two strategies of navigation, and puts forward different avoiding mode for different obstacles. In this thesis, the author has explored in both theory and practice, and designs a hardware experiment platform of robot as well.