A two-layer obstacle-avoidance system for the covering-region mobile robot

This paper presents the obstacle-avoidance system for mobile robot named MORO-I that should meet the practical requirement of covering the whole work region. The obstacle-avoidance system consists of two layers. The low-layer fusion part deals with the sensor data to recognize the currently perceptual environment. The high-layer obstacle-avoidance control part generates command to perforin the obstacle-avoidance tasks. The neural network and fuzzy logic control are used respectively. The results of simulation and experiment show that the two-layer obstacle-avoidance system can make MORO-I understand the environment well. it can help the robot move around the obstacle safely and ideally while covering the whole work region.