Mobile robot can run smoothly, sensor and image information can display properly in the PC side and remote control client side, the robot's automatic obstacle avoidance function performed well.
移动机器人能够运动自如，传感器信息和图像信息在上位机端和远程控制端都能正常显示，机器人自动避障功能表现良好。
Obstacle avoidance by ultrasonic sensor is a normal instrument, but phantom target may influence robot.
超声传感器是移动机器人避障常用的传感器．但存在幻影的干扰。
According to the information of obstacles from the sensor system, the obstacle avoidance system is built by the fuzzy control method to make the cleaning robot avoid the obstacles autonomously.
利用传感器系统获取障碍物信息，应用模糊控制方法建立机器人模糊避障系统，使清洁机器人能够自主地避开障碍物。
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