传感器信息融合的机器人运动轨迹跟踪

Tracking of robot trajectory based on sensor information fusion

针对当前方法存在跟踪误差大、时间长、抗干扰能力差等不足,提出了基于传感器信息融合的机器人运动轨迹跟踪方法。首先采用多个传感器同时采集机器人运动轨迹信息,并对信息相应融合处理,然后引入粒子滤波算法实现机器人运动轨迹跟踪,最后与其他方法进行机器人运动轨迹跟踪对比实验。结果表明,文中方法提升了机器人运动轨迹跟踪精度,加快了机器人运动轨迹跟踪速度,具有较强的抗干扰能力强,同时跟踪效果优于当前其他方法。

To solve the shortcomings of current methods,such as large tracking error,long time and poor anti-interference ability,a robot trajectory tracking method based on sensor information fusion is proposed.Firstly,multiple sensors are used to collect the robot trajectory information at the same time,and the information is fused accordingly.Then,particle filter algorithm is introduced to achieve robot trajectory tracking.Finally,robot motion trajectory tracking comparison experiments are conducted with other methods.The results show that the method in this paper improves the robot motion track tracking accuracy,speeds up the robot motion track tracking speed,and has stronger anti-interference ability,meanwhile,the tracking effect is better than other current methods.