复杂环境下的自由空间中自主跟随移动目标的多信息融合方法与应用

Multi-information fusion method for moving target autonomous following in free space in complex environment and application

针对跟随机器人在多障碍物的自由空间中,难以对移动目标定位、运动估计并主动跟随的问题,提出一种复杂环境下的自由空间中自主跟随移动目标的多信息融合方法,在移动目标与跟随机器人之间建立多信号源冗余信道,通过扩散式信道切换观测多个信号源信息,合理设计权值进行信息融合,计算出移动目标的中心位置及运动速度和方向。由此,建立多信号源定位模型,分析得出跟随机器人与移动目标间出现障碍物时的跟随方法。在此基础上,设计了随动式的跟随定位系统并进行实验,结果表明:该方法能快速、准确地实现自由空间中跟随机器人在对移动目标的自主跟随。

Aiming at the problem that it’s difficult for following robots to locate,estimate and follow autonomously moving targets in free space with multiple obstacles,a multi-information fusion method for autonomous following of moving targets in free space in complex environment is proposed. The multi-signal redundant channel is set up between the moving target and the following robot,the information of multiple signal sources is observed through the diffusion channel switching,and the weight is reasonably designed for information fusion,the center position and the moving speed and direction of the moving target is calculated. As a result,a multi-signal source localization model is established and the following method is found when obstacle exists between the following robot and moving target. On this basis,a follow-up following positioning system is designed and tested. The results show that this method can quickly and accurately realize the follow-up of following robot in free space to the moving target.