关键词: 移动机器人, 自定位, 路径规划, 信息融合, 拐角区域

Abstract: Focusing on the range error of sonar due to specular reflection, a method of weighted fusion was designed to fuse the data of sonar and camera and make the mobile robots complete the location accurately at the area of corner. A path planning for the robot was then given. After testing experiments, the results show that the method can make the robot passing through a corner safely and smoothly.

Key words: mobile robots, localization, path planning, data fusion, corner