Design And Study On Multisensors Fusion For Indoor Mobile Robot

In recent years, researches on robot as well as robot applications are increasingly widespread. One of the key points of robot technology is how to identify the environment with multi-sensors, autonomous navigation and to avoid obstacles effectively. Author described a simple overview of common multi-sensor data fusion algorithm, and a detailed introduction of the multi-sensor data fusion technology at home and abroad, as well as an overview of the development in the application of mobile robot. Based on the development of the hardware system of the cleaning robot's control system, design and improved the system's key-hardware structure. The robot that author studied is using two-80C51 structure:One single-chip microcomputer system is used to control the motor; and another piece is used for detecting, connecting ultrasonic ranging sensors, infrared proximity sensors, and collision switches sensors and so on, to achieve multi-sensor data fusion. The two single-chip microcomputers could achieve serial communication and link with the visual decision-making system of portable computer. This thesis focuses on discussing the algorithm to achieve data fusion provided by the three sensors on the robot, ultrasonic ranging sensors, infrared proximity sensors, collision switches sensors, and find a simple but effective algorithm of data fusion; Another single-chip will recognize the environment to make a appropriate decision and moving control according to the results of data fusion, so that the robot could achieve navigation, obstacle avoidance in unknown environment. The robot navigation strategy mentioned in this thesis could achieve the interior traversal, and author described in a robot trajectories in the experimental environment.