Study On Obstacle Avoidance Of Mobile Robot Based On Multisensor Information Fusion

Multisensor information fusion is a developing practical technology around the world, and widely used in many fields.It is valuable tool for information process and decision support in these fields. The potential advantages of multi-sensor fusion are redundancy, complementation, timeliness, and cost of the information. It provides a method technology for robot working in intricate, dynamic, uncertain or unknown environment.Based on the introduction of mobile robot and information fusion, the application of multisensor information is analyzed. The main research topics of multi-sensor information such as information representation, sensor modeling and fusion level are studied. The classifications and algorithms of multisensor fusion are also presented.With the platform of UP-VoyagerII mobile robot, the obstacle avoidance of mobile robot based on the multisensor infiormation fiusion is researched in unknown circumstance. To achieve the navigation in unknown or uncertain circumstance, mobile robot should have the ability of apperceiving the task circumstance and path planning. As the uncertain information of ultrasonic sensors, an obstacle avoidance algorithm was proposed based on fuzzy logic.Then the fusion algorithm was studied on the basis of T-S fuzzy neural network. Moreover, the stratergy of avoiding obstacle was proposed and the avoid obstacle was realized for given environment for mobile robot.Finally, the experiment with UP-VoyagerII mobile robot verifies that the above mentioned method is really feasible and efficient.