| 基于多传感器信息融合的移动机器人避障 |
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| 引用本文： | 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(5):35-38. |
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| 作者姓名： | 陈绍茹 陈奕梅 |
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| 作者单位： | 天津工业大学电气工程与自动化学院,天津300387 |
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| 基金项目： | 天津市应用基础及前沿技术研究计划资助项目（11JCYBJC07000） |
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| 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。
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| 关 键 词： | 移动机器人 避障 多传感器信息融合 模糊控制 |
Obstacle avoidance of mobile robot based on multi-sensor information fusion |
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| CHEN Shao-ru,CHEN Yi-mei.Obstacle avoidance of mobile robot based on multi-sensor information fusion[J].Transducer and Microsystem Technology,2014(5):35-38. |
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| Authors: | CHEN Shao-ru CHEN Yi-mei |
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| Affiliation: | ( School of Electrical Engineering and Automation, Tianjin Polytechnic University, Tianjin 300387, China ) |
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| Abstract: | In order to solve the obstacle avoidance problem of mobile robot in unknown environments, adopt multi- sensor 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. |
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| Keywords: | mobile robot obstacle avoidance multi-sensor information fusion fuzzy control |
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