基于超声波传感器的未知狭窄环境导航算法

Navigating algorithm in narrow unknown environment based on ultrasonic sensors

针对移动机器人在未知狭窄环境中的导航问题,利用证据理论中的矛盾因子,给出了一个自适应超声波传感器模型。利用该模型,结合D S证据理论融合算法以及证据格方法,实现了移动机器人在未知狭窄环境中的导航,并有效地减少了由于超声波传感器镜面反射所引起的不确定性。实验结果表明了该方法的有效性。

The conflict factor of D-S evidence theory is applied to constructing an adaptive ultrasonic sensor model for the navigation of mobile robots in narrow unknown environments.Combining D-S evidence theory and evidence grid method,the model is applied to building the map of narrow unknown environments for mobile robots.So uncertainty caused by specular reflection in ultrasonic sensor responses can be successfully reduced.The experiment results indicate that the adaptive model improves the performance of ultrasonic sensors.