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Research Vision-Guided Robot for Obstacle Avoidance of Information Fusion in the Unstructured Environment

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To obtain better the navigation results of autonomous mobile robot in the unstructured environment, the authors proposed a new method based on vision-guided information and ultrasonic sensor system. Firstly, the mobile robot platform was developed. It included structure design with kinematics analysis, the structure and transplant of embedded control system and ultrasonic ranging system. Secondly, the method of adaptive weighted fusion estimation was used to construct the sensor system model and several sensors' information was fused with D-S evidence theory. Finally, the obstacle avoidance trajectory proposed here is insensitive to noise, adaptable and highly accurate. The tiny change of single sensor can be filtrated and the remarkable change can be magnified with the multi-sensor information fusion algorithm. This was verified by experiments on both simulation test and practicality experiment.
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Document Type: Research Article

Publication date: 2011-10-01

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