Behavior Control Of Robot Based On Multi-sensor Information Fusion

With the continuous expansion of the scope of robot application,the working environment of the robot is becoming more and more complex,most of which are unknown and dynamic.Due to the limitation of the robot sensor and the uncertainty of the sensing information,the behavior control of the robot based on multi-sensor information fusion technology is proposed in this thesis,it can obtain environmental information more accurately and reliably,and combine adaptive neural network with fuzzy logic inference to control robot behavior,many different behaviors are designed for the robot,and finally coordinate multiple behaviors to make the robot adapt to the uncertain environment to accomplish the task.Firstly,this thesis describes the relationship between the robot and the sensor,the multi-sensor system of the robot,multi-sensor information fusion technology,and the application of information fusion in the field of robotics.Because the robot NAO has rich sensors in similar robots,this thesis starts with robot NAO,the composition of multi-sensor system and the sensing technology of multi-sensor are studied in detail.The robot perception information is classified,and the design and implementation of the state information monitoring function for the robot NAO.Then,the design of a variety of different behaviors for the robot,there are avoidance behavior,the implementation of command behavior,tend to target behavior,emergency behavior,roaming behavior,respectively on the different behaviors of the detailed design and research.According to the comparison of information fusion algorithm,the adaptive neural fuzzy inference information fusion algorithm is applied to the obstacle avoidance behavior control of robot.After the basic behavior of the robot is determined,multiple behaviors can highlight new and more complex behaviors through the control method,the target tasks completed by the robot are coordinated by various basic behaviors,thus the autonomy and intelligence of the robot are improved.Finally,the coordination of the robot's behavior to achieve the target task.The behavior controller is designed according to the coordination mechanism of robot behavior,and the behavior of the robot is controlled by using priority and dynamic adjusting weights.The simulation platform and the real environment are used to verify the experiment,the effective behavior and feasibility of the behavior control scheme are proved.