Study On Obstacle Avoidance Of Mobile Robot Based On Multi Sensors

With the progress of industrial automation level, mobile robots are got more and moreattention from people, the research on mobile robots has been the focus of many people. Theautonomous navigation of mobile robots is important hotspot in the field of robotics research,the navigation of mobile robots require the sensors to realize environment and their ownstates,and move independently with the environment of obstacles. The avoiding obstacles ofmobile robots is an important part of autonomous navigation, it must involve the positioningof the robot to realize the avoiding obstacles accurately. Multi-sensors fusion can offer moreaccurate information about the environment for robots, it is of great significance foraccurately positioning and avoiding obstacles for robots. This paper mainly discussed thealgorithm of obstacles recognition of mobile robots under the ultrasonic sensors and visualsensors, and controlling the mobile robots to avoid obstacles with simple motion control.Firstly, we discuss how to use ultrasonic sensors to detect obstacles, describing themethod of determining the safety area of the robot working space, then applicate theproposed method to determine the safety area within the robot workspace so as to guide themovement of robot.Then we further study the mobile robot localization and obstacles recognition algorithmbased on multiple ultrasonic sensors and Kinect sensor, including the obstacles discrimination,determination the distance between obstacles and robot as well as the width of the size ofthe obstacles.Finally, we study on the structure of robot open source operating system, design theobstacles avoidance program on the open source robot operating system according to theobstacles recognition algorithm.