摘要
在移动机器人障碍探测中,需要实时准确的感知环境信息,而单一传感器仅能提供部分环境信息,对环境进行描述时存在局限性。提出采用红外传感器和超声波传感器相结合来感知环境信息,完成障碍物信息的采集,并利用自适应加权融合算法实现数据融合的方案。实验仿真结果表明,多传感器数据融合后比单一传感器所采集的数据更接近于真实值,波动性小,并不易受外界环境的影响。该方案较好地满足了移动机器人障碍探测的需要,具有一定的有效性和实用性。
In moving robot obstacle detection, the real-time accurate sensing of environmental information is needed, but a single sensor can supply only partial environmental information and description of the enviroment is limited. A method that uses the infrared sensor and the ultrasonic sensor unifying the sensation of environmental information is proposed in this paper. It completes the obstacle information gathering, and realizes the data fusion scheme using the auto-adapted weighting fusion algorithm. The simulated experiment proved that gathering the data compared to the single sensor approaches more to real value, with less fluctuation, and is not easily attected by external environment is after multi-sensor data fusion. Thus, this scheme meets the moving robot obstacle detection needs, is valid and is usable.
出处
《电子工程师》
2008年第9期55-57,共3页
Electronic Engineer
