Obstacle avoidance system for agricultural robots based on multi-sensor information fusion

Author

Pingzeng, Liu ; Shusheng, Bi ; Guansheng, Zang ; Wenshan, Wang ; Yushu, Gao ; Zhenmin, Deng

Volume

2

fYear

2011

Firstpage

1181

Lastpage

1185

Abstract

A robot for agricultural field operation is developed. A modular structure is used in robot design,and the robot is divided into deceleration and electrical drives device, loading platform, crawler and robot posture detection & control device. GPS is used for navigation and positioning. These sensors, such as Ultrasonic sensors, Infrared sensor and laser scanner etc, are selected. And multi-sensor information fusion algorithm is used for obstacle avoidance. A fuzzy clustering idea is used in designing the obstacle avoidance algorithm and the robot can find the area around the obstacle with the algorithm. All theses create conditions for robot automatic navigation and automatic operation.

Keywords

Global Positioning System; agriculture; collision avoidance; fuzzy set theory; industrial robots; infrared detectors; pattern clustering; sensor fusion; ultrasonic devices; GPS; agricultural field operation; agricultural robots; automatic robot navigation; automatic robot operation; fuzzy clustering; infrared sensor; laser scanner; multisensor information fusion; obstacle avoidance system; robot design; robot posture detection; ultrasonic sensors; Collision avoidance; Loading; Robot sensing systems; Soil measurements; Agricultural robot; Multi-sensor Information Fusion; Obstacle avoidance;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Network Technology (ICCSNT), 2011 International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4577-1586-0

Type

conf

DOI

10.1109/ICCSNT.2011.6182170

Filename

6182170