Research Of Motion And Obstacle Avoidance Control Of Mobile Robot On Multi-sensor Information Fusion

At present,robot is a trend for future development and mobile robot is an important part of robotic field.This paper mainly starts from the wheeled mobile robot and takes the ARM9 as main controller to control motion and research autonomous obstacle avoidance.Firstly,this paper introduces the background and meaning of this topic,then the current condition of mobile robot from home and abroad and the future of this field.Also,this part gives a brief introduction of key technology in mobile robot and a detail introduction of this main research.This paper starts from the mechanical designing system and controlling system of wheeled mobile robot.With the development of the board TE2440 of ARM9,and DC brush servo motor and drive circuit developed by HIP 4081 with relevant TE2440 development board.Design a motion control system.Then,realizing motion control functions,such as,moving forward,backward and turning around.Compared with the traditional motion control of wheeled moving robot,this method has the advantages of sensitive reaction,low cost,realizing the requirements of various situations and convenient for further development.For the autonomous obstacle avoidance of mobile robot,this paper expresses an intelligent algorithm which combined many sensors based on fuzzy control,then,details of obstacle avoidance strategy and also designs the algorithm and PC controlling program to reach the goal of autonomous obstacle avoidance.Lastly,this paper gives a brief verification of production and theories of mobile robot which proves its feasibility of expected requirements.