Region-wide Coverage Of The Mobile Robot Obstacle Avoidance Strategy And Multi-sensor System Design

This paper studies a system for obstacle avoidance by a new kind of region-filling mobile robot (such as a robot lawn mower) in detail and discusses some related technology and theory such as sensor, architecture, multi-sensor information fusion and so on. First, the author builds the improved architecture based on behaviors for the mobile robot MORO-I, proposes a full strategy of obstacle avoidance for region filling, and defines random obstacle and general obstacle which will be dealt with differently,- moreover, the multi-sensor system is set up which includes five groups of ultrasonic sensors for detecting the environmental information and the artificial neural network is used to fuse the information from each sensor group to achieve a precision of obstacle identification; finally, the hardware and software are designed for the realization of obstacle avoidance. Through the work above, the full and practical design approach is proposed to provide the theoretical support for similar researches.