Design of Multi-Sensor Data Fusion Ranging System of Mobile Robot
Jiong Yang · Automation and Instrumentation · 2009
This paper introduces the hardware components and the multi-sensor data fusion method about navigation of the mobile robot.The system has three modules,the ultrasonic ranging module,the infrared ranging module and the data integration module.The ultrasonic ranging module and the infrared ranging module detect the distances from the robot to obstacles around the robot.The data integration module collects the distance data from the two ranging module by SMBus,as well as processes them with the adaptive weighted data fusion algorithm to obtain reliable obstacle distance.Experiments show this ranging system is reliability and flexibility,and it meets the need of avoiding obstacle of mobile robot autonomous navigation.