earticle

영어

A novel mobile robot obstacle avoidance method based on multi‐sensor was proposed. According to distant or close obstacles’ information detected by three front‐end sonar sensors and four PSD sensors respectively, obstacles positional information were definite after analysis process, further, the obstacles were classified into different states by its positional information. So, robot could move under the guidance of strategy which was determined by classification. In order to implement autonomous movement in various situations, a finite state transfer approach was introduced in our method. Finally, experiment has been done on the AS‐R mobile robot platform, and experimental result shows that the method is feasible and reliable.