Research Of Mobile Robot Obstacle Avoidance And Path Planning Based On Multi-Sensor Information Fusion

With the development of social science and technology,and the increase on the national demand for aerospace,military,industrial,robot technology emerges as the times require.As a member of robot,mobile robot has better flexibility and independence,which makes it become the focus field of robot research.In the few years,in order to satisfy the requirement of actual application,mobile robot not only should have stronger ability to adapt the environment,but also should have the intelligent control system with more perfect,while the obstacle avoidance and path planning problem of mobile robot is one of the hot points in the research.This paper makes the mobile robot obstacle avoidance and path planning as the research direction,combines the technology of multi-sensor information fusion,study on the problem of robot position,trajectory tracking,obstacle avoidance and path planning.The main study works as follows.Firstly,the paper introduces the research background and significance briefly,expounds the main robot technology and the development general situation of mobile robot at home and aboard.The wheeled mobile robot is taken as the research object,and the model of the wheeled mobile robot and sensors are established.While,for the larger position error problem with using the odometer,the paper uses the Extend Kalman Filtering fusion algorithm to improve the positioning accuracy.Secondly,for the trajectory tracking problem of mobile robot,two fuzzy controllers------the positioning tracking fuzzy controller and the posing tracking fuzzy controller are designed in this paper.The output data of fuzzy controller is taken as the expected value for the low-level motion control in the mobile robot,and for the servo motor control and the robot motion control in the system,the paper uses the PID method to adjust the robot posing for tracking the trajectory.Lastly,the mobile robot obstacle avoidance and path planning problem is researched.For the global path planning with the known map of environment,the paper uses the improved artificial potential field method to avoid falling into local minimum point and plan a path without collision avoidance.For the part obstacle avoidance and path planning problem in the environment with dynamic and static obstacles,the static obstacle avoidance fuzzy controller and the dynamic obstacle avoidance fuzzy controller are designed in this paper,and for the dynamic obstacles,the paper put forward the corresponding strategy to avoid obstacles,which makes the mobile robot can adjust the running speed and direction under the fuzzy controllers,and then avoid obstacles and drive to the mission terminal point.In addition,for the methods are adopted on the mobile robot position,trajectory tracking,obstacle avoidance and path planning problem,the paper carries out the simulation to verify its validity.,and also uses the self-build wheeled mobile robot experimental platform to make the experiment on the multi-sensor information fusion positioning which is proposed in this paper,and the validity of the algorithm is proved through the experiment.