Abstract: This paper proposes a novel method for mobile robot path planning. The data gotten from eight sonar transmitters mounted in the robot front is fused with that gotten from a CCD camera mounted on the robot back deck to obtain the location of obstacles. The algorithm needs much less calculation than that just uses vision, and more accurate than that uses sonar only. According to the fused obstacles information, a local best path for the robot is planed using the tangent method. Experimental results show that the method has an effective performance.

Key words: obstacles avoidance for mobile robot, multi-sensors, path planning

摘要： 提出一种基于多传感器的移动机器人路径规划策略。利用声纳传感器和CCD摄像机对环境进行探测，得到关于障碍物的信息，通过一种简单、快速的数据融合算法计算出障碍物相对于机器人的位置坐标。采用切线法进行路径规划，实现了移动机器人在不确定环境下的路径规划，使机器人可以很好地避开障碍物，并以局部最优或次最优路径到达指定位置。实验结果验证了该路径规划算法的良好性能。

关键词: 移动机器人避障, 多传感器, 路径规划

CLC Number: 

• TP18