基于传感器数学模型的数据融合方法及避障研究

Data fusion approach based on the mathematic model of sensors and research on obstacle avoidance

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。

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.