Fusion of Ultrasonic and RP Lidar 360 sensors using ANFIS for mobile robot navigation

摘要

Multi-sensor data fusion using ANFIS for mobile robot navigation is implemented in this paper. The proposed system fuses the sensor data from ultrasonic and Lidar sensors for an improved environment perception. Using two ultrasonic sensors and one RP Lidar 360 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">o</sup> sensor a mobile robot test bed is created. The mobile robot is allowed to navigate through a mazelike path for collecting the real-time distance data. An ANFIS system based on these collected distance data is designed. ANFIS generates input and output membership functions by studying nature of the loaded data. Output from ANFIS is the fused distance of ultrasonic and RP Lidar sensors. Detailed statistical analysis using RMSE is done for various type of membership functions and various number of membership functions in ANFIS. Now a fuzzy logic controller consists of FIS model system decides actions to navigate autonomous robot based on the fused distance output from ANFIS.