Self-localization and obstacle avoidance for a mobile robot |
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Authors: | Hongbo Wang Ke Yu Bingyi Mao |
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Affiliation: | (1) School of Mechanical Engineering, Yanshan University, 066004 Qinhuangdao, China;(2) School of Information Science and Engineering, Yanshan University, 066004 Qinhuangdao, China |
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Abstract: | This article presents a fast self-localization method based on ZigBee wireless sensor network and laser sensor, an obstacle
avoidance algorithm based on ultrasonic sensors for a mobile robot. The positioning system and positioning theory of ZigBee
which can obtain a rough global localization of the mobile robot are introduced. To realize accurate local positioning, a
laser sensor is used to extract the features from environment, then the environmental features and global reference map can
be matched. From the matched environmental features, the position and orientation of the mobile robot can be obtained. To
enable the mobile robot to avoid obstacle in real-time, a heuristic fuzzy neural network is developed by using heuristic fuzzy
rules and the Kohonen clustering network. The experiment results show the effectiveness of the proposed method. |
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Keywords: | Self-localization Obstacle avoidance Wireless sensor network Laser sensor Feature match Fuzzy neural network Kohonen clustering network |
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