Obstacle avoidance research of snake-like robot based on multi-sensor information fusion

Qianying Wu; Junyao Gao; Chengzu Huang; Zhengyang Zhao; Cheng Wang; Xuandong Su; Huaxin Liu; Xin Li; Yi Liu; Zhe Xu

doi:10.1109/ROBIO.2012.6491106

Obstacle avoidance research of snake-like robot based on multi-sensor information fusion

Qianying Wu, Junyao Gao^*, Chengzu Huang, Zhengyang Zhao, Cheng Wang, Xuandong Su, Huaxin Liu, Xin Li, Yi Liu, Zhe Xu

^*此作品的通讯作者

机电学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

4 引用（Scopus）

摘要

The snake-like robot needs to adapt to complex environment, in order to reach the target point safely and collisionless, necessary obstacle avoidance strategy is of vital importance. In this paper, laser radar and ultrasonic sensors are used to detect the surrounding environment, and then information fusion method based on TS fuzzy neural network is adopted to integrate the collected information, which provides the necessary condition for obstacle avoidance research of the snake-like robot. Experiments show that the snake-like robot can successfully avoid obstacles to reach the target point after training of the fuzzy neural network.

源语言	英语
主期刊名	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
页	1040-1044
页数	5
DOI	https://doi.org/10.1109/ROBIO.2012.6491106
出版状态	已出版 - 2012
活动	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Guangzhou, 中国期限: 11 12月 2012 → 14 12月 2012

出版系列

姓名	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

会议

会议	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
国家/地区	中国
市	Guangzhou
时期	11/12/12 → 14/12/12

访问文件

10.1109/ROBIO.2012.6491106

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链接到 Scopus 的出版物

引用此

Wu, Q., Gao, J., Huang, C., Zhao, Z., Wang, C., Su, X., Liu, H., Li, X., Liu, Y., & Xu, Z. (2012). Obstacle avoidance research of snake-like robot based on multi-sensor information fusion. 在 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest (页码 1040-1044). 文章 6491106 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest). https://doi.org/10.1109/ROBIO.2012.6491106

@inproceedings{ab2f02afb4ee418f8cdd009e77b6bdab,

title = "Obstacle avoidance research of snake-like robot based on multi-sensor information fusion",

abstract = "The snake-like robot needs to adapt to complex environment, in order to reach the target point safely and collisionless, necessary obstacle avoidance strategy is of vital importance. In this paper, laser radar and ultrasonic sensors are used to detect the surrounding environment, and then information fusion method based on TS fuzzy neural network is adopted to integrate the collected information, which provides the necessary condition for obstacle avoidance research of the snake-like robot. Experiments show that the snake-like robot can successfully avoid obstacles to reach the target point after training of the fuzzy neural network.",

author = "Qianying Wu and Junyao Gao and Chengzu Huang and Zhengyang Zhao and Cheng Wang and Xuandong Su and Huaxin Liu and Xin Li and Yi Liu and Zhe Xu",

year = "2012",

doi = "10.1109/ROBIO.2012.6491106",

language = "English",

isbn = "9781467321273",

series = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

pages = "1040--1044",

booktitle = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

note = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 ; Conference date: 11-12-2012 Through 14-12-2012",

}

Wu, Q, Gao, J, Huang, C, Zhao, Z, Wang, C, Su, X, Liu, H, Li, X, Liu, Y & Xu, Z 2012, Obstacle avoidance research of snake-like robot based on multi-sensor information fusion. 在 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest., 6491106, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, 页码 1040-1044, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012, Guangzhou, 中国, 11/12/12. https://doi.org/10.1109/ROBIO.2012.6491106

Obstacle avoidance research of snake-like robot based on multi-sensor information fusion. / Wu, Qianying; Gao, Junyao; Huang, Chengzu 等.
2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest. 2012. 页码 1040-1044 6491106 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Obstacle avoidance research of snake-like robot based on multi-sensor information fusion

AU - Wu, Qianying

AU - Gao, Junyao

AU - Huang, Chengzu

AU - Zhao, Zhengyang

AU - Wang, Cheng

AU - Su, Xuandong

AU - Liu, Huaxin

AU - Li, Xin

AU - Liu, Yi

AU - Xu, Zhe

PY - 2012

Y1 - 2012

N2 - The snake-like robot needs to adapt to complex environment, in order to reach the target point safely and collisionless, necessary obstacle avoidance strategy is of vital importance. In this paper, laser radar and ultrasonic sensors are used to detect the surrounding environment, and then information fusion method based on TS fuzzy neural network is adopted to integrate the collected information, which provides the necessary condition for obstacle avoidance research of the snake-like robot. Experiments show that the snake-like robot can successfully avoid obstacles to reach the target point after training of the fuzzy neural network.

AB - The snake-like robot needs to adapt to complex environment, in order to reach the target point safely and collisionless, necessary obstacle avoidance strategy is of vital importance. In this paper, laser radar and ultrasonic sensors are used to detect the surrounding environment, and then information fusion method based on TS fuzzy neural network is adopted to integrate the collected information, which provides the necessary condition for obstacle avoidance research of the snake-like robot. Experiments show that the snake-like robot can successfully avoid obstacles to reach the target point after training of the fuzzy neural network.

UR - http://www.scopus.com/inward/record.url?scp=84876475665&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2012.6491106

DO - 10.1109/ROBIO.2012.6491106

M3 - Conference contribution

AN - SCOPUS:84876475665

SN - 9781467321273

T3 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

SP - 1040

EP - 1044

BT - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

T2 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012

Y2 - 11 December 2012 through 14 December 2012

ER -

Wu Q, Gao J, Huang C, Zhao Z, Wang C, Su X 等. Obstacle avoidance research of snake-like robot based on multi-sensor information fusion. 在 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest. 2012. 页码 1040-1044. 6491106. (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest). doi: 10.1109/ROBIO.2012.6491106

Obstacle avoidance research of snake-like robot based on multi-sensor information fusion

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