Title :
A fuzzy logic information fusion algorithm for autonomous mobile robot avoidance based on multi-ultrasonic range sensors
Author :
Guo, Tao ; Silamu, Wushouer
Author_Institution :
Sch. of Inf. Sci. & Eng., Xinjiang Univ. Urumqi, Urumqi, China
Abstract :
Obstacle-avoiding is a key and challenging issue for autonomous mobile robot navigation, especially in unstructured environments. This paper proposes a fuzzy logic information fusion algorithm based on multi-ultrasonic ranging sensors. Compared to the single sensor approach, this algorithm can not only get the obstacle´s distance and orientation information more accurately and reliably, but also obtain the numerical output results of the speed and the turning angle for robot´s obstacle avoiding behavior. In addition, the method can simplify the system design by eliminating the necessity of temperature compensation which is routinely included in ultrasonic ranging. MATLAB based simulations and the local path finding experiments on the prototype autonomous mobile robot showed that this algorithm can help the robot timely and robustly to avoid the obstacles in an unstructured environment in a more correct and reliable way, in the same time, the guided path is more smooth and the fluctuation is less and more reasonable. Obviously, the algorithm proposed in the paper is effective.
Keywords :
collision avoidance; distance measurement; fuzzy logic; mobile robots; sensor fusion; ultrasonic transducers; MATLAB-based simulations; autonomous mobile robot navigation; fuzzy logic information fusion algorithm; local path finding; multiultrasonic range sensors; obstacle distance; orientation information; robot obstacle avoiding; temperature compensation; Fuzzy logic; MATLAB; Mobile robots; Navigation; Robot sensing systems; Robustness; Sensor fusion; Temperature distribution; Turning; Virtual prototyping; Multi-sensor information fusion; autonomous mobile robot; fuzzy logic; obstacle-avoiding; ultrasonic ranging sensor;
Conference_Titel :
Piezoelectricity, Acoustic Waves, and Device Applications (SPAWDA) and 2009 China Symposium on Frequency Control Technology, Joint Conference of the 2009 Symposium on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-4950-7
DOI :
10.1109/SPAWDA.2009.5428888