An approach to intelligent controlling rugged surface for WiRobot X80

This paper presents a new hierarchical development for sensor fusion, along with its programming for Wirobot X80. According to the development, first, an approach to locating targets is proposed when only ultrasonic sensors are available. Second, a method for calculate the coordinates of the ground special points, which are taken as the position descriptions of the recognized target will be developed. Third, when ultrasonic sensors are available simultaneously, elements at the intersection of the information from ultrasonic sensors are fused to form reliable position coordinates of the recognized target. Lastly, ultrasonic sensors have been chosen due to accuracy in distance measurement, simple, low-cost and safe for human.