Path Planning for Mobile Robot Based on Multi-sensors

摘要

This paper proposes a novel method for mobile robot path planning.The data gotten from eight sonar transmitters mounted in the robot front is fused with that gotten from a CCD camera mounted on the robot back deck to obtain the location of obstacles.The algorithm needs much less calculation than that just uses vision,and more accurate than that uses sonar only.According to the fused obstacles information,a local best path for the robot is planed using the tangent method.Experimental results show that the method has an effective performance.