基于多数据融合的智能定位传感器避障算法研究

Research on Obstacle Avoidance Algorithm of Intelligent Positioning Sensor Based on Multi Data Fusion

在智能定位传感器内增加避障算法,可使机器人拥有自动躲避障碍的能力,该文基于多数据融合设计智能定位传感器避障算法。设置激光雷达测距和超声波测距作为多传感器障碍检测的方法,获取机器人当前位置与障碍点坐标的相对几何关系,计算机器人与障碍点位置的距离,定位路面障碍点,对2种传感器收集到的数据进行多元障碍定位信息的加权融合。设置智能机器人避障轨迹目标函数以及约束条件,设计机器人避障算法,得到基于定位传感器的机器人避障方法。实验结果表明,在简单环境及复杂环境下机器人均未与障碍物相撞。在运行轨迹中随机放置障碍物,机器人能够及时完成运行轨迹的变化。由此可见,该避障算法具备较好的应用前景,可应用于各种智能机器人中。

An obstacle avoidance algorithm is added to the intelligent positioning sensor to enable the robot to automatically avoid obstacles. An obstacle avoidance algorithm for intelligent positioning sensor is designed based on multiple data fusion. Laser radar ranging and ultrasonic ranging are set as the methods of multisensor obstacle detection to obtain the relative geometric relationship between the current position of the robot and the coordinates of the obstacle points,calculate the distance between the robot and the obstacle points,locate the road obstacle points,and perform the weighted fusion of multiple obstacle location information on the data collected by the two sensors. The obstacle avoidance trajectory objective function and constraint conditions of intelligent robot are set,and the obstacle avoidance algorithm of robot is designed to obtain the obstacle avoidance method of robot based on positioning sensor. The experimental results show that the robot does not collide with obstacles in both simple and complex environments. When obstacles are placed randomly in the running track,the robot can complete the change of the running track in time. It can be seen that the obstacle avoidance algorithm has good application prospects and can be applied to various intelligent robots.