| The technology of MSDF (multi-sensor data fusion) are widely applied in military commanding, decision support, industrial automation control, special equipment, geographical environment monitoring and navigation. It has been a popular topic in recent decades. In this article, the author has carried on a study of MSDF technology in both theory and practice. An expert system based MSDF approach is proposed and developed to solve the obstacle avoidance problem of mobile robots. The main content of the article is shown as the following:1. Introduced the development history of MSDF, and several mainstream data fusion technology, including Bayes theory, D-S evidence theory, fuzzy logic theory, small wave vary, etc.2. Studied the basic concept of ES (Expert System), summarized the development history and directions of ES research, the relevant knowledge of rule-based expert system and production rules.3. Introduced the system structure of the mobile robot platform, the sensor system and the distribution of reflective sensors on the robot. Obstacle avoidance problem with the mobile robot is analyzed..4. An ES-based sensor fusion approach for the problem of obstacle avoidance is presented. Detailed procedures and rule base that are designed for obstacle avoidance with the mobile robot are introduced. Experimental results are presented and analyzed. |
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