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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.