[1] Qiao Fengbin, Yang Ruqing,. Multi-sensor systems and information processingof mobile robot in uncertain environments [J]. Journal of Southeast University (English Edition), 2004, 20 (3): 341-345. [doi:10.3969/j.issn.1003-7985.2004.03.015]

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Multi-sensor systems and information processingof mobile robot in uncertain environments()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

20

Issue:

2004 3

Page:

341-345

Research Field:

Automation

Publishing date:

2004-09-30

Info

Title:

Multi-sensor systems and information processingof mobile robot in uncertain environments

Author(s):

Qiao Fengbin;  Yang Ruqing

Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, China

Keywords:

mobile robot;  behavior-based reactive control architecture;  neural network

PACS:

TP242.3

DOI:

10.3969/j.issn.1003-7985.2004.03.015

Abstract:

The PBJ- 01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sensors and a vision sensor. The PBJ- 01 adopts behavior-based reactive control architecture in which the key part is an object recognition system based on a fuzzy neural network. Simulation validates that this system can conclude the obstacle type from the sensor data, and help the robot decide whether to negotiate or to avoid obstacles.

References:

[1] Everett H R. Sensors for mobile robots: theory and application [M]. Massachusetts: A K Peters Ltd, 1995. 1-5.
[2] Brooks R A. A robust layered control system for a mobile robot [J]. IEEE Journal of Robotics and Autonomous, 1986, 2(1): 14-23.
[3] Wang Shuo, Tan Min. Multiple autonomous mobile robots avoidance based on negotiation and intention strength [J].High Technology Letters, 2001(10): 70-73.(in Chinese)
[4] Bezdek J C. Pattern recognition with fuzzy objective function algorithms [M]. New York: Kluwer Academic Publishers, 1981. 1-3.
[5] Ishikawa S. A method of indoor mobile robot navigation by using fuzzy control[A]. In: Proceeding IEEE/RSJ IROS ’ 91[C]. Osaka, 1991. 1013-1018.
[6] Song K T, Tai J C. Application of virtual concepts and fuzzy control for mobile robot navigation [J]. Proceeding NSC Part A, 1994, 18(4): 400-411.

Memo

Memo:

Biographies: Qiao Fengbin(1975—), male, graduate; Yang Ruqing(corresponding author), male, professor, rqyang@sjtu.edu.cn.

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