Information Fusion of Ultrasonic Sensor Based on RBF Network in Obstacle-Avoidance System of Mobile Robot


Article Preview

Artificial neural networks are applied to multi-sensor information fusion (MSIF) in obstacle-avoidance system of mobile robot. BP and RBF networks are presented, and comparison is made in the simulation experiment. Results show that RBF network is more effective to deal with information of multi-sensor. It can become an important method for multi-sensor information fusion.



Edited by:

Qi Luo




W. Huang et al., "Information Fusion of Ultrasonic Sensor Based on RBF Network in Obstacle-Avoidance System of Mobile Robot", Applied Mechanics and Materials, Vols. 20-23, pp. 791-795, 2010

Online since:

January 2010




[1] J. Borenstein, Y. Koren: Obstacle abvoidance with ultrasonic sensors. Journal of Robotics and Automation Vol. 4 (1998), pp.213-218.

[2] J.L. Crowley: World modeling and position estimation for a mobile robot using ultrasonic ranging. Proc. IEEE International Conference on Robotics and Automation Vol. 2 (1989), pp.674-680.


[3] W.H. Wang, W.D. Chen and Y.G. Xi: Uncertainty sensor information processing in map building of mobile robot. ACTA Automatica Sinica Vol. 29 (2003), pp.267-274.

[4] S.C. Setld: Sensor intergration and data fusion. Proc. of SP IE Vol. 1198 (1989), pp.178-197.

[5] K.D. Sommer, O. Kuehn, F.P. Leon, et. al. : A bayesian approach to information fusion for evaluating the measurement uncertainty. Robotics and Autonomous Systems Vol. 57 (2009), pp.339-344.


[6] S.L. Sun: Multi-sensor optimal information fusion Kalman filter with application. Aerospace Science and Technology Vol. 8 (2004), pp.57-62.

[7] L.J. Xu, Y.Z. Chen and P.Y. Cui: Improvement of D-S evidential theory in multisensor data fusion system. Proc. of the 2th World Congress on Intelligent Control and Automation Vol. 14 (2004), pp.3124-3128.


[8] A. Mahajan, K. Wang and P.K. Ray: Multisensor integration and fusion model that uses a fuzzy inference system. IEEE/ASME Transactions on Mechatronics Vol. 6 (2001), pp.188-196.


[9] T. Yang, X.H. Huang, G. Peng, Y. Wu and J. Gao: Application of information fusion based on RBF neural networks in robot soccer. Computer Engineering and Design Vol. 26 (2005), pp.704-706.

[10] J. Wang, J.B. Su and Y.G. Xi: Overview of multisensor informaiton and fusion. Robot Vol. 23 (2001), pp.183-186.

[11] Z.X. Ge, Z.Q. Sun: �eural �etwork Theory and MATLAB 7 Application (Electronic Industry Press, China 2007).

Fetching data from Crossref.
This may take some time to load.