OBJECT IDENTIFICATION BY ULTRASONIC AND INFRARED SENSORS DATA FUSION USING ARTIFICIAL NEURAL NETWORK
The article presents the results of the research, the purpose of which is to find solutions for the implementation of a universal sensor module for a modular mobile robot (MR). In this solution, the sensor module is an fusion of ultrasonic and infrared sensors, the integration of the readings of which is performed using an artificial neural network (ANN). In the described experiments, the software implementation of ANN is performed on the Iskra Neo platform with an ATmega32U4 microcontroller. The purpose of fusion the sensors readings is to determine both the presence of an object (by ultrasound sensors) in the environment of a mobile robot (MR) and its orientation relative to MR (by infrared sensor). The use of ANN provides high adaptation of the mechatronic system to the objects of the environment. Neural network training performed on a PC using the Rumelhart-Hinton-Williams algorithm (back propagation error algorithm).