Improvement of control algorithm for mobile robot using multi-layer sensor fusion

Abstract

Mobile robots have received much of attention in the last three decades due to their very high potential of applications in smart logistics, exploration, and autonomous-intelligent services, One of the important functions of mobile robots is the navigation in which robot must know their location, the map of the environment and perform path planning with obstacle avoidance. In this paper, an improvement of a control algorithm for a mobile robot using multi-layer sensor fusion toward the target of an efficient obstacle avoidance is introduced. Based on our method, three layers of sensors arranging in three height-different planes of robot's housing Tor sensor fusion were used. A control algorithm, which is extended from the so-called bubble rebound algorithm and combined with a SLAM algorithm, was proposed. Experimental implementations on a mobile robot, named EAI, show that our algorithm can control the robot to navigate and avoid obstacles much efficiently, in which obstacles in forms of different shapes and heights can also be avoided. High repeatability and stability of the algorithm are obtained.