| 基于传感器数学模型的数据融合方法及避障研究 |
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| 引用本文： | 肖本贤,李善寿,赵明阳,张松灿.基于传感器数学模型的数据融合方法及避障研究[J].合肥工业大学学报(自然科学版),2007,30(2):178-181. |
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| 作者姓名： | 肖本贤 李善寿 赵明阳 张松灿 |
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| 作者单位： | 合肥工业大学,电气与自动化工程学院,安徽,合肥,230009 |
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| 摘 要： | 文章介绍了超声波传感器测距中存在的问题,提出了基于传感器数学模型的数据融合方法,在此基础上建立基于信息融合的移动机器人导航系统;结合模糊逻辑控制的方法,设计了符合人类驾驶经验的模糊控制器,以实现移动机器人在障碍物环境下的自主导航;最后用MATLAB模糊工具箱对该模糊控制器进行了仿真,结果表明,机器人能够自主避开障碍物,到达目的地。
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| 关 键 词： | 超声波传感器 数据融合 移动机器人 模糊逻辑 避障 |
| 文章编号： | 1003-5060(2007)02-0178-04 |
| 修稿时间： | 2006年2月24日 |
Data fusion approach based on the mathematic model of sensors and research on obstacle avoidance |
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| XIAO Ben-xian,LI Shan-shou,ZHAO Ming-yang,ZHANG Song-can.Data fusion approach based on the mathematic model of sensors and research on obstacle avoidance[J].Journal of Hefei University of Technology(Natural Science),2007,30(2):178-181. |
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| Authors: | XIAO Ben-xian LI Shan-shou ZHAO Ming-yang ZHANG Song-can |
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| Abstract: | The problems of the ultrasonic sensor in measuring distance are analyzed,and a data fusion approach is presented based on the mathematic model of sensors.Then the navigation system of mobile robots is established based on information fusion.The fuzzy controller according with human driving experience is designed by the fuzzy logic control method to realize autonomous navigation in the obstacle environment.Finally simulation results with MATLAB demonstrate that the mobile robot can reach its destination successfully and independently. |
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| Keywords: | ultrasonic sensor data fusion mobile robot fuzzy logic obstacle avoidance |
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