Development of the Multisensor Fusion Algorithm Based Intelligent Mobile Robots

• Main Authors: Yi-Lin Liao, 廖禕瞵
• Other Authors: Kuo-Lan Su
• Format: Others
• Language: en_US
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/11816922988160552115

博士 === 國立雲林科技大學 === 工程科技研究所 === 103 === In the thesis, an intelligent mobile robot system with the unified interface is developed. The mobile robot system contains one master module and some slave modules. It uses the ultrasonic sensor module and reflection infrared sensor module for obstacles, fire detection module, environment detection module, gas detection module for real-time states detection, electronic compass and accelerometer module for posture detection, and power detection module for the current and voltage signals detection and diagnoses. The I2C interface is utilized in the communications between master and slave modules. Besides, the overall system communications with the main controller (PC) via RS232 interface. The system can transmit sensor signals of slave modules to main controller. It can be displayed real-time status of these modules on the user interface. In the detection module, the multisensor fusion algorithms are used to obtain an exact output. In the experimental results of fire detection module, the weighted average method is applied to detect a fire signal. In the gas detection module, the logic filters are utilized to measure an unknown target gas. The module compares the posterior probability values to decide the unknown target gas to be LPG (Liquefied Petroleum Gas) or ethanol. In the power detection module, the combination of improving redundant management method and four current sensors are used to detect and diagnose the current and voltage signals of mobile robots. In addition, an isolated faulty sensor is used to improve the power status.