Path Planning Of Mobile Robot Based On Information Fusion

Path planning is an important issue for the navigation of the autonomous mobile robot. Information fusion is a developing practical technology. It is a valuable tool for Information Process and Decision Support in these fields. Information fusion method is proved to be effective in order to improve the robot intelligence. Path planning of mobile robot based on the information fusion is researched. The purpose of this research is to realize that the mobile robot can travel in security to some goals from starting point in obstacle environment.This research infers to the realizations of two control variable,movement control and experiments in simulator system and the mobile robot.At first, the theory of this paper topic is systemic summarized, and the technologies of information fusion, location and path planning are analyzed. At the same time, the elementary experimentation results of the research and the development setting are introduced. The experimentation with simulation and real situation about the basic actions and the obstacles avoidance are researched. And experimentation conclusions are satisfied.In the research of path planning, the technology of behavior-based and local path planning are combined to realize path planning of mobile robot. And fuzzy logic algorithm based on Mamdani model is used in local path planning. At first, a Fuzzy Controller is designed and Fuzzy Logic Toolbox in MATLAB is used to check the value of Fuzzy Logic controller. More, Experimentation of Locatoin and Navigation with simulation in ARNL is made and the simulation results demonstrate that mobile robot can avoid obstacles, and reach the goal successfully.