摘要
通过测距系统计算机器人运动路径是机器人壁障、路径规划以及协作编队关键技术之一。根据移动机器人工作环境地形复杂、光线差等特点,采用高精度激光传感器和超声波传感器协同测距,以ARM9为核心设计了软硬件,在此基础上,研究了自适应加权平均数据融合算法,并分析了各传感器的误差和方差。经实验统计,多传感器融合比单一传感器测量精度平均提高了47%,测量误差减小到0.5 cm以内,表明本系统提高了测量精度和可靠性。
Calculating robot moving pathway is one key ytechnology of robot obstacle avoidance,path planning and coordination formation via ranging system. According to characteristic of robot working environ- ment like complex landscape and weak light etc. For raising measuring precision, this paper cooperate high accurate laser sensor with ultrasonic sensor measuring, designed software and hardware using ARM9 as the CPU, based on which, researched adaptive weighed fusion algorithm and analyzed error and vari- ance of each sensor. Through experiments statistics, concluded that multi-sensors fusion have a 47% higher precision than single sensors, and measuring error decreased within 0.5cm, which indicate that the system raised ranging accurate and reliability indeed.
出处
《西南科技大学学报》
CAS
2012年第4期89-93,共5页
Journal of Southwest University of Science and Technology
基金
国防应用基础研究项目(B3120110005)
