基于多传感器数据融合的移动机器人导航

Mobile Robotics Navigation Based on Multi-Sensory Data Fusion

提出了一个允许机器人在室内环境中沿规划好的路径移动的决策和控制结构。机器人的控制系统包含了应用特定硬件实现的可以并行运行的几个程序。移动机器人的导航子系统利用卡尔曼滤波器 ,融合由视觉系统与由里程计获得的位置估计值。通过一组超声波传感器实现障碍物检测。实验结果表明 ,效果良好。

A strategy and a control architecture that allow a mobile robot to navigate in indoor environment on a planned path are described in this paper. The robot's control system includes several processes which run in parallel by using a specialized hardware. The navigation subsystem of the mobile robot fuses the position estimation obtained by a vision system with the position estimated by odometry using a Kalman filter. Obstacle detection is performed by means of a set of ultrasonic sensors. The experimental result shows that the method is effective.