Name
Title | ||
|---|---|---|
Environment Perception of Mobile Manipulator System Based on Multi-Sensor Information Fusion |
Abstract | ||
|---|---|---|
Research in mobile manipulators has reached a level of maturity where they can be expected to efficiently perform complex missions involving searching for gas leaks, hazardous chemicals and pollutant sources. The methods based on multi-source information fusion is effective means for its independent operations. This paper discusses the perception systems for HEBUT- II mobile manipulator system. Firstly, the fusion method of visual and ultrasonic information has been applied to localization of the end-effector. Secondly, based on the ultrasonic array of the mobile platform, a fuzzy control method was adopted to achieve its obstacle-avoidance motion. Experimental results verified the validity of the algorithm and strategy. Through above means, the mobile manipulator system could achieve preferable perception of target object its surrounding environment. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1109/ICNC.2008.474 | ICNC |
Keywords | Field | DocType |
mobile platform,visual information,obstacle-avoidance motion,motion control,multi-source information fusion,multisensor information fusion,ultrasonic array,fusion method,mobile robots,end effectors,environmental factors,fuzzy control method,environment perception,perception system,fuzzy control,hebut- ii mobile manipulator system,mobile manipulator,multi-sensor information fusion,collision avoidance,end-effector localization,mobile manipulator system,preferable perception,ultrasonic information,sensor fusion,multi-sensor,sensors,mobile communication,visualization,obstacle avoidance,acoustics | Motion control,Computer science,Real-time computing,Artificial intelligence,Fuzzy control system,Computer vision,Visualization,Sensor fusion,Robot end effector,Mobile telephony,Machine learning,Mobile robot,Mobile manipulator | Conference |
Volume | ISBN | Citations |
4 | 978-0-7695-3304-9 | 0 |
PageRank | References | Authors |
0.34 | 6 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Chun-Yan Gao | 1 | 16 | 7.24 |
| Minglu Zhang | 2 | 27 | 15.35 |
| Ruisu Liu | 3 | 0 | 0.34 |