Obstacle avoidance system for agricultural robots based on multi-sensor information fusion

摘要

A robot for agricultural field operation is developed. A modular structure is used in robot design,and the robot is divided into deceleration and electrical drives device, loading platform, crawler and robot posture detection & control device. GPS is used for navigation and positioning. These sensors, such as Ultrasonic sensors, Infrared sensor and laser scanner etc, are selected. And multi-sensor information fusion algorithm is used for obstacle avoidance. A fuzzy clustering idea is used in designing the obstacle avoidance algorithm and the robot can find the area around the obstacle with the algorithm. All theses create conditions for robot automatic navigation and automatic operation.