Environmental Perception of Mobile Robot
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 will achieve more intelligent operations. First, the paper introduces the theory of the mobile robots 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.
Mobile robot Environmental perception Multi-sensor data fusion Multi-layer perceptron (MLP) Decision-making.
Lanshen GUO Minglu ZHANG Yang WANG Gengqian LIU
School of Mechanical Engineering Hebei University of Technology Tianjin 300130, China
国际会议
2006 IEEE International Conference on Information Acquisition
山东威海
英文
348-352
2006-08-20（万方平台首次上网日期，不代表论文的发表时间）