Research of intelligent mobile robot key techniques

摘要

In this paper, the intelligent mobile robot key techniques are introduced, which include: the architecture of intelligent mobile robot, path planning and its simulation techniques, transducer and multisensor fusion techniques, design and implement of intelligent mobile robot, vision subsystem and information reduction techniques, research of "perception-action" behavior and application of fuzzy control, etc. A real outdoor mobile robot THMR-III (TsingHua Mobile Robot) that we developed has been demonstrated to perform road following, obstacle avoidance, branch road recognition and navigation, and cross-country and target following at an average speed of 3 m/s.