Obstacle Avoidance System for Agricultural Robots Based on Multi-sensor Information Fusion

摘要：

A robot for agricultural field operation is developed. A modular structure is used in robot design, and the robot is divided into deceleration and electrical drives device, loading platform, crawler and robot posture detection & control device. GPS is used for navigation and positioning. These sensors, such as Ultrasonic sensors, Infrared sensor and laser scanner etc, are selected. And multi-sensor information fusion algorithm is used for obstacle avoidance. A fuzzy clustering idea is used in designing the obstacle avoidance algorithm and the robot can find the area around the obstacle with the algorithm. All theses create conditions for robot automatic navigation and automatic operation.

关键词： Agricultural robot Multi-sensor Information Fusion Obstacle avoidance

作者: Liu Pingzeng Bi Shusheng Zang Guansheng Wang wenshan Gao Yushu Deng Zhenmin

作者单位: Department of Information Science and Engineering Shandong Agricultural University, Taian, China Rob Robotics institute, Beijing University of Aeronautics and Astronautics, Beijing, China Department of Information Science and Engineering Shandong Agricultural University, Taian, China

会议类型: 国际会议

会议名称: 2011 International Conference on Computer Science and Network Technology(2011计算机科学与网络技术国际会议 ICCSNT 2011)

会议地点: 哈尔滨

会议语种:英文

页码: 1181-1185

在线出版日期: 2011-12-24（万方平台首次上网日期，不代表论文的发表时间）