Obstacle avoidance of mobile robot based on multi-sensor information fusion

CHEN Shao-ru; CHEN Yi-mei

doi:10.13873/j.1000-97872014.05.032

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Obstacle avoidance of mobile robot based on multi-sensor information fusion

更新时间：2025-09-11

- Obstacle avoidance of mobile robot based on multi-sensor information fusion
- Vol. 33, Issue 5, Pages: 35-38(2014)
- 作者机构：
  
  天津工业大学电气工程与自动化学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872014.05.032
  CLC： TP242
- Published：2014
- 稿件说明：
移动端阅览
[1]陈绍茹,陈奕梅.基于多传感器信息融合的移动机器人避障[J].传感器与微系统,2014,33(05):35-38.

CHEN Shao-ru, CHEN Yi-mei. Obstacle avoidance of mobile robot based on multi-sensor information fusion[J]. 2014, 33(5): 35-38.
[1]陈绍茹,陈奕梅.基于多传感器信息融合的移动机器人避障[J].传感器与微系统,2014,33(05):35-38. DOI： 10.13873/j.1000-97872014.05.032.

CHEN Shao-ru, CHEN Yi-mei. Obstacle avoidance of mobile robot based on multi-sensor information fusion[J]. 2014, 33(5): 35-38. DOI： 10.13873/j.1000-97872014.05.032.

摘要

为了更好地解决移动机器人在未知环境下的自主避障问题

采用多传感器信息融合的方法

通过多个超声传感器对障碍物信息进行采集。合理确立模糊控制器的输入输出

通过模糊推理将障碍物距离信息模糊化

建立模糊规则并解模糊

以达到对移动机器人的安全避障的控制。通过建立移动机器人运动模型

设计了仿真平台

得到实验结果表明:该算法具有良好的可行性。

Abstract

In order to solve the obstacle avoidance problem of mobile robot in unknown environments

adopt multisensor information fusion method

through multi-ultrasonic sensors acquire information of obstacles. The input variables and output variables of fuzzy controller are set reasonably. Fuzzing obstacles distance information through fuzzy reasoning

establish fuzzy rules and then defuzzification

to achieve obstacle avoidancs of mobile robot successfully. By constructing model of mobile robot motion

design simulation platform and get experimental results

which shows the algorithm is feasible.

关键词

Keywords

references

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基于多传感器信息融合的地下自主铲运机的定位技术 [J]. 迟洪鹏,战凯,郭鑫. 有色金属 . 2009(04)

基于模糊行为融合的移动机器人避障算法 [J]. 杨晶东,洪炳熔,朴松昊. 华中科技大学学报(自然科学版) . 2008(S1)

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多传感器信息融合基本原理及应用 [J]. 马平,吕锋,杜海莲,王瑞,牛成林. 控制工程 . 2006(01)

移动机器人的超声模糊避障算法 [J]. 刘喜昂,周志宇. 微计算机信息 . 2004(01)

基于D-S理论的多信息融合方法及应用 [J]. 罗志增,蒋静坪. 电子学报 . 1999(09)

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