期刊文献+
共找到1篇文章
< 1 >
每页显示 20 50 100
Obstacle avoidance technology of bionic quadruped robot based on multi-sensor information fusion
1
作者 韩宝玲 张天 +2 位作者 罗庆生 朱颖 宋明辉 《Journal of Beijing Institute of Technology》 EI CAS 2016年第4期448-454,共7页
In order to improve the ability of a bionic quadruped robot to percept the location of obstacles in a complex and dynamic environment, the information fusion between an ultrasonic sensor and a binocular sensor was stu... In order to improve the ability of a bionic quadruped robot to percept the location of obstacles in a complex and dynamic environment, the information fusion between an ultrasonic sensor and a binocular sensor was studied under the condition that the robot moves in the Walk gait on a structured road. Firstly, the distance information of obstacles from these two sensors was separately processed by the Kalman filter algorithm, which largely reduced the noise interference. After that, we obtained two groups of estimated distance values from the robot to the obstacle and a variance of the estimation value. Additionally, a fusion of the estimation values and the variances was achieved based on the STF fusion algorithm. Finally, a simulation was performed to show that the curve of a real value was tracked well by that of the estimation value, which attributes to the effectiveness of the Kalman filter algorithm. In contrast to statistics before fusion, the fusion variance of the estimation value was sharply decreased. The precision of the position information is 4. 6 cm, which meets the application requirements of the robot. 展开更多
关键词 MULTI-SENSOR Kalman filter algorithm constant velocity (CV) model STF fusion algo-rithm obstacle avoidance of robot
下载PDF
上一页 1 下一页 到第
使用帮助 返回顶部