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。文中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,并且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, real-time accurate sensing of environmental information is needed, but a single sensor can only supply partial environmental information and has limitation for environment description. A concept which proposed uses combination of an infrared sensor and an ultrasonic sensor for sensing environmental information is proposed, which carries out obstacle information gathering, and realizes data fusion plan using the adaptive weight fusion algorithm. Simulation showed that gathering of data compared to single sensor approach is closer to actual value, and the fluctuation is small, and is not easily influenced by external environment after multi-sensor data fusion. Thus, this plan meets the moving robot obstacle detection needs, has high efficiency usability.
出处
《信息化研究》
2009年第1期55-57,共3页
INFORMATIZATION RESEARCH
