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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.
Natural Computation, 2008. ICNC '08. Fourth International Conference on (Volume:4 )
Date of Conference: 18-20 Oct. 2008