Design of Obstacle Avoidance and Tracking Robot

2013 ◽  
Vol 722 ◽  
pp. 384-388
Author(s):  
Hai Bo Liu ◽  
Yu Jie Dong
Keyword(s):  
Obstacle Avoidance ◽  
Information Fusion ◽  
Ultrasonic Transducer ◽  
Environmental Information ◽  
Infrared Sensor ◽  
Sensor Information ◽  
And Behavior ◽  
And Control ◽  
Intelligent Tracking

Nowadays, there are still no better solutions to the problems of multi-sensor information fusion and multi-behavior conflicts on intelligent tracking robot, which can not correctly recognize complex obstacles like U shape, furthermore, intelligently select the best obstacle-avoidance path. This design takes AT89S52 as the MCU of the wheel robot. Infrared sensor and ultrasonic transducer are used to collect environmental information around. Priority resolving and fuzzy behavior fusion are integrated to process the multi-sensor information and control the running states of wheel robot. By using the designed method, the robot can properly handle the different behaviors and behavior conflicts in its tracking progress. Also, more accurate sign information can be identified, and more complex obstacles like U shape can be avoided quickly and accurately by following the best path. The application result on the wheel robot verifies the efficiency of proposed method.

Information Fusion of Ultrasonic Sensor Based on RBF Network in Obstacle-Avoidance System of Mobile Robot

2010 ◽  
Vol 20-23 ◽  
pp. 791-795
Author(s):  
Wei Huang ◽  
Yi Xin Yin ◽  
Shan Ding ◽  
Jie Dong ◽  
Xue Ming Ma ◽  
...  
Keyword(s):  
Neural Networks ◽  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Information Fusion ◽  
Simulation Experiment ◽  
Rbf Networks ◽  
Important Method ◽  
Rbf Network ◽  
Sensor Information ◽  
Made In

Artificial neural networks are applied to multi-sensor information fusion (MSIF) in obstacle-avoidance system of mobile robot. BP and RBF networks are presented, and comparison is made in the simulation experiment. Results show that RBF network is more effective to deal with information of multi-sensor. It can become an important method for multi-sensor information fusion.

A novel obstacle avoidance method based on multi-information inflation map

2019 ◽  
Vol 47 (2) ◽  
pp. 253-265
Author(s):  
Rupeng Yuan ◽  
Fuhai Zhang ◽  
Jiadi Qu ◽  
Guozhi Li ◽  
Yili Fu
Keyword(s):  
Motion Planning ◽  
Obstacle Avoidance ◽  
Design Methodology ◽  
Attenuation Coefficients ◽  
Content Type ◽  
Planning Algorithm ◽  
Previous State ◽  
Sensor Information ◽  
Fourth Experiment ◽  
And Control

Purpose This paper aims to provide a novel obstacle avoidance method based on multi-information inflation map. Design/methodology/approach In this paper, the multi-information inflation map is introduced, which considers different information, including a two-dimensional grid map and a variety of sensor information. The static layer of the map is pre-processed at first. Then sensor inputs are added in different semantic layers. The processed information in semantic layers is used to update the static layer. The obstacle avoidance algorithm based on the multi-information inflation map is able to generate different avoidance paths for different kinds of obstacles, and the motion planning based on multi-information inflation map can track the global path and drive the robot. Findings The proposed method was implemented on a self-made mobile robot. Four experiments are conducted to verify the advantages of the proposed method. The first experiment is to demonstrate the advantages of the multi-information inflation map over the layered cost map. The second and third experiments verify the effectiveness of the obstacle avoidance path generation and motion planning. The fourth experiment comprehensively verifies that the obstacle avoidance algorithm is able to deal with different kinds of obstacles. Originality/value The multi-information inflation map proposed in this paper has better performance than the layered cost maps. As the static layer is pre-processed, the computational efficiency is higher. Sensor information is added in semantic layers with different cost attenuation coefficients. All layers are reset before next update. Therefore, the previous state will not affect the current situation. The obstacle avoidance and motion planning algorithm based on the multi-information inflation map can generate different paths for different obstacles and drive a robot safely and control the velocity according to different conditions.

Awakening Children's Minds

2001 ◽  
Author(s):  
Laura E. Berk
Keyword(s):  
Adult Child ◽  
Educational Practice ◽  
Private Speech ◽  
Child Rearing ◽  
General Audience ◽  
Educational Environments ◽  
Problem Solving Strategies ◽  
Way Of Thinking ◽  
And Behavior ◽  
And Control

Parents and teachers today face a swirl of conflicting theories about child rearing and educational practice. Indeed, current guides are contradictory, oversimplified, and at odds with current scientific knowledge. Now, in Awakening Children's Minds, Laura Berk cuts through the confusion of competing theories, offering a new way of thinking about the roles of parents and teachers and how they can make a difference in children's lives. This is the first book to bring to a general audience, in lucid prose richly laced with examples, truly state-of-the-art thinking about child rearing and early education. Berk's central message is that parents and teachers contribute profoundly to the development of competent, caring, well-adjusted children. In particular, she argues that adult-child communication in shared activities is the wellspring of psychological development. These dialogues enhance language skills, reasoning ability, problem-solving strategies, the capacity to bring action under the control of thought, and the child's cultural and moral values. Berk explains how children weave the voices of more expert cultural members into dialogues with themselves. When puzzling, difficult, or stressful circumstances arise, children call on this private speech to guide and control their thinking and behavior. In addition to providing clear roles for parents and teachers, Berk also offers concrete suggestions for creating and evaluating quality educational environments--at home, in child care, in preschool, and in primary school--and addresses the unique challenges of helping children with special needs. Parents, Berk writes, need a consistent way of thinking about their role in children's lives, one that can guide them in making effective child-rearing decisions. Awakening Children's Minds gives us the basic guidance we need to raise caring, thoughtful, intelligent children.

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