MULTISENSOR DATA FUSION BASED AUTONOMOUS MOBILE ROBOT WITH MANIPULATOR FOR TARGET DETECTION

Chinchu Chandrasenan, Nafeesa T A, Reshma Rajan, Vijayakumar K

Abstract: This paper proposes a novel autonomous mobile robot in unknown environment navigating through obstacles by computing the shortest path. Flood fill algorithm is used for path planning of the mobile robot. The concept of minimum energy contour to perform the desired operation of robotic manipulator is achieved using Fuzzy algorithm. Object detection is done by utilizing a mobile robot with sensors and object recognition is achieved by image processing using Principal Component Analysis (PCA). This paper describes the implementation of multi sensor data fusion assisting a mobile robot to acquire a purposive behavior in the respective environment. This is achieved by directly integrating sensor information which helps the robot to successfully navigate and also enables fetch & retrieval operation of robotic manipulator. In this approach, information is taken from distance sensors, position sensors and image sensor. This work also aims to provide an optimal fusion of information from distributed multiple sensors using Kalman Filter

Keywords: Mobile robot navigation, flood fill, robotic manipulator, fuzzy algorithm, object detection, multi-sensor fusion, Principal Component Analysis, Kalman Filter.

DOI: https://doi.org/10.15623/ijret.2014.0313015