Information fusion-based mobile robot path control

Author

Wang, Jingyan ; Liu, Huaping ; Gao, Meng ; Sun, Fuchun ; Xiao, Wei

Author_Institution

Shijiazhuang Tiedao Univ., Shijiazhuang, China

fYear

2012

fDate

23-25 May 2012

Firstpage

212

Lastpage

217

Abstract

The paper is combining with the deliberation-reaction hybrid control architecture by using a high-speed DSP chip is used to deal with the motion control and the mobile robot path planning, the technology of multi-sensor information fusion achieve for vertical and horizontal control, to reach precise positioning technology. In the case of local partially unknown environment, the function of obstacle avoidance is completed, and the trajectory coordinates of the mobile robot is showed on the PC real-time visual interface. The experimental results show the good usability of the proposed control method.

Keywords

collision avoidance; digital signal processing chips; mobile robots; sensor fusion; user interfaces; PC real-time visual interface; deliberation-reaction hybrid control architecture; high-speed DSP chip; horizontal control; information fusion-based mobile robot path control; mobile robot path planning; mobile robot trajectory coordinates; motion control; multisensor information fusion technology; obstacle avoidance; positioning technology; vertical control; Collision avoidance; Gyroscopes; Mobile robots; Planning; Robot sensing systems; Wheels; Information Fusion; Mobile Robot; Path Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2012 24th Chinese

Conference_Location

Taiyuan

Print_ISBN

978-1-4577-2073-4

Type

conf

DOI

10.1109/CCDC.2012.6242931

Filename

6242931