Robot Navigation Based on Multi-sensor Data Fusion

摘要

This paper mainly focuses on a multi-sensor system for combining data from infrared and ultrasonic sensors in the navigation of coal mine rescue robots, meanwhile a navigation method is presented. A multiple infrared and ultrasonic sensor system has been developed for complete coverage navigation of a robot. By fusing the aspects of different sensors with different beam-widths, more efficient colLision avoidance behavior in robot control can be obtained. A navigation method using TOF, ampLitude characteristic and trigonometry are appLied to solve such problems as obstacle detection, obstacle avoidance and path-planning. Simulation results demonstrate that the robot is capable of bypassing obstacles agilely and reach the destination smoothly and reLiably, at the same time the precise position and orientation information of the robot are updated using the previous robot locaLization studies.