Research on Obstacle Avoidance Method for Mobile Robot Based on Multisensor Information Fusion
Chengguo Zong, Zhijian Ji, Yu Yan, Hao Shi
Abstract
With the wide application of mobile robots in unstructured environments, an obstacle avoidance system with good performance has become an important part of mobile robot systems. We propose an obstacle avoidance method for a mobile robot based on multi-sensor information fusion technology and a fuzzy neural network control algorithm. In view of complex working environments, a differential kinematics estimation model of a mobile robot is studied. A multi-sensor information fusion method based on the extended Kalman filter and a mobile robot obstacle avoidance algorithm based on fuzzy neural network control are then proposed. Finally, simulations and experiments are conducted, which demonstrate the effectiveness of the proposed method.