DocumentCode :
3461286
Title :
Environmental Perception of Mobile Robot
Author :
Guo, Lanshen ; Zhang, Minglu ; Wang, Yang ; Liu, Gengqian
Author_Institution :
Sch. of Mech. Eng., Hebei Univ. of Technol., Tianjin
fYear :
2006
fDate :
20-23 Aug. 2006
Firstpage :
348
Lastpage :
352
Abstract :
This paper builds a system to perceive the unknown environment based on multi-sensor data fusion. It enables the self-determined mobile robot to identify the type of the obstacles around it timely in the process of travel, and the mobile robot achieves more intelligent operations. First, the paper introduces the theory of the mobile robot´s environmental perception and the configuration of the multi-sensor data fusion technology. Second, it combines the characteristics of neural network (NN) and brings forward that apply the MLP (multi-layer perception), which based on the improved back propagation (BP) arithmetic and four mature items of fusion rules, to perceive the real surroundings aiming at simplifying the former solving projects. Third, the paper presents a structure of multi-sensor data fusion, which two sub-networks for barrier recognition are separately built and incorporates with each other by parallel connection to form a high-powered recognition system. Finally, the results of experiment present that the method given by the paper are very pleasant
Keywords :
backpropagation; mobile robots; multilayer perceptrons; sensor fusion; back propagation; environmental perception; mobile robot; multilayer perception; multisensor data fusion; neural network; Intelligent robots; Mechanical engineering; Mobile robots; Navigation; Neural networks; Paper technology; Robot sensing systems; Robot vision systems; Sensor fusion; Ultrasonic transducers; Decision-making; Environmental perception; Mobile robot; Multi-layer perceptron (MLP); Multi-sensor data fusion;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Information Acquisition, 2006 IEEE International Conference on
Conference_Location :
Weihai
Print_ISBN :
1-4244-0528-9
Electronic_ISBN :
1-4244-0529-7
Type :
conf
DOI :
10.1109/ICIA.2006.306024
Filename :
4097957
Link To Document :
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