To deal with the uncertain data of the ultrasonic sensor , an obstacle avoidance method of data fusion based on Takagi-Sugeno-type (T-S) fuzzy neural network is given. This paper introduced the data fusion of the ultrasonic sensor and established the mapping-relationship between the input signals of a controller and the robot output-speed. The simulation of obstacle avoidance based on fuzzy neural network is performed under MATLAB environment, finally the applied experiment is carry out in practical environment. The result show that the algorithm is accurate and robust and it can be applied to the navigation system of mobile robot.%针对超声波传感器产生的不确定信息,研究了一种基于Takagi-Sugeno(T-S)模型的模糊神经网络信息融合避障方法;对超声波传感器所获得的数据进行融合,建立控制器输入信号和机器人速度输出之间的模式映射关系;在MATLAB环境下对模糊神经网络避障算法进行了仿真,最后在实际环境中进行避障实验;实验结果表明,该算法具有较好的准确性和鲁棒性,能够适用于移动机器人的导航需要.
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