Implementation of Multi-Sensor Information Fusion in the Mobile Robot Control

Abstract:

Multi-sensor information fusion is that fuses information of multiple sensors gained through use of redundant, complementary, or timelier information in a system can provide more reliable and accurate information. Under the research of mobile robot environmental information, a control method of fuzzy neural network based on T-S (Takagi-Sugeno) type is given, it can fuses effectively collected information from multiple ultrasonic sensors and a CCD camera, and realize the real-time control for mobile robot. The results on mobile robot obstacles avoidance verified the effectiveness of the method.

• Periodical: Applied Mechanics and Materials (Volumes 448-453)
• Pages: 3549-3552
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.448-453.3549
• Online since: October 2013
• Authors: Guo Qing Qiu*, Yong Can Yu, Ming Li, Yi Long
• Keywords: Fuzzy Neural Network (FNN), Information Fusion, Mobile Robot, Obstacles Avoidance, T-S Type

References

[1] Zhongmin WANG, Kaixu LIU: Control Engineering Vol. 17 (2010), p.387, in Chinese.

[2] Qianying WU, Junyao GAO: Robotics and Biomimetics, IEEE International Conference (2012), p.1040.

[3] Xiaochuan ZHAO, Qingsheng LUO, Baoling HAN: Intelligent Control and Automation, Proceedings of the 7th World Congress (2008), p.5019.

DOI: 10.1109/wcica.2008.4593742

[4] Wang M, Liu J N K: Robotics and Autonomous Systems, Vol 56(2008), p.625.

[5] Feng SHI, Xiaochuan WANG: MATLAB 30 Cases of Neural Network Analysis (Beijing University of Aeronautics&Astronautic Publications, China 2010).