Research and Design of the Differential Autonomous Mobile Robot Based on Multi-Sensor Information Fusion Technology

摘要

The composite array of the ultrasonic and infrared sensors is researched and designed to expand the scope of the robot detection. A novel approach of multi-sensor information fusion based on the neural networks and the fuzzy control is presented. A BP neural network is used to fuse the information from multi-sensor so that the uncertainty of the sensors' information can be decreased and high accuracy of obstacle identification can be obtained. In order to realize the decision control, a fuzzy control technology is used for obstacle avoidance. The simulation from Mobotsim software shows that the information fusion method presented in this paper has high performance of robustness and flexibility when dealing with the obstacle avoidance problem and proved the effectiveness of the proposed approach.