Research on autonomous navigation of mobile robot based on multi ultrasonic sensor fusion

Abstract

Based on the mobile robot platform with multi-ultrasonic ranging sensors, a method is proposed to obtain local maps by ultrasonic ranging, and to obtain global maps through detection in the process of motion, so as to complete path planning and navigation. This method effectively fuses multi-sensor to detect obstacles around the mobile robot. The global map is constructed by local map, which overcomes the shortcoming of ultrasonic ranging. The method is easy to implement. The validity of this method is verified by a certain type of mobile robot platform.