Application of Multi-sensor Information Fusion Based on Finite State Machine(FSM)in the Programming of Wheeled Mobile Robot
XU Wei
Abstract：In the research of wheeled mobile robots,sensors are the basis of intelligent robot. The information obtained by a single sensor is limited,so intelligent robots are usually equipped with a large number of sensors to meet the needs of detection and data acquisition. But multi-sensor gives the robot-programming a lot of trouble,a wide variety of circumstances need to be consid?ered by using a single sensor information processing programming ideas,so the programming language is complicated and poor read?able. Moreover,the overall contact is lost among all the sensors,causing the robot to run out of control. To solve these problems, this paper describes the principle of multi-sensor information fusion based on finite state machine theory,designs a general program?ming algorithm. The example based on the movement of wheeled mobile robot to avoid-cliff on the long beach track,which illustrate the application of multi-sensor information fusion based on finite state machine theory in robot programming practice.
Keywords：finite-state machinemulti-sensorinformation fusionwheeled mobile robot
Publication Date：2019-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 2478-2481,2516 )