9 May 2000 Path plan and motion control for mobile robot based on ultrasonic data fusion
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Proceedings Volume 4077, International Conference on Sensors and Control Techniques (ICSC 2000); (2000) https://doi.org/10.1117/12.385573
Event: International Conference on Sensors and Control Techniques (ICSC2000), 2000, Wuhan, China
Abstract
In order to overcome the limitation usage of a single or a single kind of sensors in detecting obstacles around the mobile robot, we usually adopted multi-sensor in traditional navigation technique. This method can cause the hardware circuit complexity and the information disposal boring. In this paper, we adopt a ultrasonic sensor which is installed on a rotating plane to scan the obstacles around the mobile robot. Furthermore we use an artificial potential field method which have been gotten rid of the dead zone to fuse the obtained information for planning path and motion control. The control circuit and the method is simple and convenient. This increase the reliability and response of the motion control. The experimental result shows that the moving trajectory is smooth and continuous therefore the method is effective and can satisfy the need of the motion control for the mobile robot.
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Yibin Li, Yibin Li, Caihong Li, Caihong Li, Fengyu Zhou, Fengyu Zhou, Rui Song, Rui Song, Xuecheng Su, Xuecheng Su, } "Path plan and motion control for mobile robot based on ultrasonic data fusion", Proc. SPIE 4077, International Conference on Sensors and Control Techniques (ICSC 2000), (9 May 2000); doi: 10.1117/12.385573; https://doi.org/10.1117/12.385573
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