Research of intelligent mobile robot key techniques

Author

Kezhong, He ; Haihang, Sun ; Muhe, Guo ; Hong, Wang

Author_Institution

Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China

fYear

1996

fDate

2-6 Dec 1996

Firstpage

503

Lastpage

507

Abstract

In this paper, the intelligent mobile robot key techniques are introduced, which include: the architecture of intelligent mobile robot, path planning and its simulation techniques, transducer and multisensor fusion techniques, design and implement of intelligent mobile robot, vision subsystem and information reduction techniques, research of “perception-action” behavior and application of fuzzy control, etc. A real outdoor mobile robot THMR-III (TsingHua Mobile Robot) that we developed has been demonstrated to perform road following, obstacle avoidance, branch road recognition and navigation, and cross-country and target following at an average speed of 3 m/s

Keywords

fuzzy control; intelligent control; mobile robots; object recognition; path planning; robot vision; sensor fusion; fuzzy control; intelligent mobile robot; multisensor fusion; navigation; obstacle avoidance; outdoor mobile robot THMR-III; path planning; perception-action; road following; road recognition; robot vision; simulation; Analog computers; Computational modeling; Global Positioning System; Intelligent robots; Mobile robots; Optical computing; Optical filters; Path planning; Transducers; Vehicle driving;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 1996. (ICIT '96), Proceedings of The IEEE International Conference on

Conference_Location

Shanghai

Print_ISBN

0-7803-3104-4

Type

conf

DOI

10.1109/ICIT.1996.601640

Filename

601640