Mobile Robot's Obstacle Avoidance Based On Multiple Ultrasonic Sensors And Fuzzy Control

Mobile robots have a broad application prospects in civilian life, military function, space detection, and many other areas. Under the analysis of mobile robot's present development and future trend, combined with the function requirement of mobile robot and technology nowadays available, a way to a new type of mobile robot is proposed in this paper, which is notable for its low cost, multi-function, easy maintenance and convenient upgrade. Meanwhile, control system research and development of this new mobile robot has been realized.Considering the requirements of the accuracy and the fast of the information processing, ultrasonic sensors are used as environment sensing system of the robot; moreover, ranging principle and data acquisition mode of the ultrasonic sensor are important part of this paper. Based on development board of SPCE061A MCU and toy cars, the hardware system of mobile robot is built. For solving robot's safe obstacle avoidance problem, a fuzzy obstacle avoidance algorithm is proposed and designed.This paper focuses on the fuzzy obstacle avoidance algorithm, which is based on partial information in dynamic environment with high real-time performance and adaptability. The algorithm can convert the information acquired in all directions by the ultrasonic sensors into fuzzy volume and input the reasoning, and control the vehicle obstacle avoidance according to the inference rules. In order to solve the calculation problem of fuzzy inference rules, a novel fuzzy inference algorithm based on the memory is presented to save computing time.Finally, a series of experiment about the mobile robot moves in a variety of obstacles environment are presented. And research results are proved in these experiments.