Intelligent Control and Sensor Fusion of a Mobile Robot Based Monitoring System

Abstract

The use of a sensor fusion layer, which processes the data in a fuzzy manner, reduces the amount of information to be processed by the stage that controls the speed and direction of the robot. Matlab has been used to implement the control scheme on the PC. The signals (commands and measurements) to and from the robot are transmitted through radiofrequency modules mounted on both the PC and the Khepera robot. The processing is fast enough, preventing delays that could damage the robot. In addition, the fusion sensor layer reduces the disturbances caused by the noise, mainly originated by the light sources, thus giving certain degree of robustness to the system: the robot moves smoothly. On the other hand, the response of the neural network is very close to the ideal one. In fact, part of the error comes from the non homogeneous disposition of the sensors. Nevertheless, there offers a resolution of ±2 degrees, with an execution time of 10 ms, which is ideal for applications that require real time processing. At this moment, only temperature is being measured by the prototype. The temperature measured value is sent to the PC using a radiofrequency module