Research On Autonomous Climbing Stairs Of Mobile Robot Based On Multi-sensor Fusion

This article researches on the method that can be used by AS-RF mobile robot in climbing the stairs and apperceiving the position of stairs and robot. Based on multi-sensors amalgamation, this article also talks about the configuration of control system and its control policy.After making analysis to the AS-RF system and the sensors' extended system, the main content of this article can be divided as follows:First of all, apperceiving pose and position of robot based on several sensors, such as sonar and laser, is researched in order to achieve the control parameters; the images came from the CCD are disposed by edge distilling, line fitting and sidestep distinguishing in order to make facility to the following data fusion of multi-sensors.Secondly the theory of multi-sensor fusion is introduced and an improved method of D-S evidential reasoning is adopted to slove the present problem of D-S evidential reasoning. The paper calculates the local decision on the basis of the measurement, on which the support matrix is based.Then the eigenvector is gained from the support matrix, and it is the reliability vector of the system. The paper improves the D-S evidential reasoning by giving a weight to evidence that equals to the evidence's reliability. At last, an example is given out.It proves that the method described above is valid when some evidences are false or far from the real value.Finally, the robot is controlled to climb stairs through apperceiving parameters, the policy can be divided into two parts: monolayer stair climbing and multi-stairs climbing. The multi-stairs climbing can be accomplished through checking whether AS-RF has been in the roof of stair and finding the next floor's stair based on monolayer stair climbing. The pose of robot should be controlled independently by itself in order to guarantee the safety in climbing stairs.