信息融合在移动机器人轨迹模糊跟踪中的应用  

Application of Information Fusion in Fuzzy Trajectory Tracking for Mobile Robot

作　　者：李佩娟[1] 陈小惠[1] 

机构地区：[1]江苏科技大学电子信息学院,江苏镇江212003

出　　处：《计算机测量与控制》2007年第11期1528-1530,1568,共4页Computer Measurement &Control

摘　　要：在机器人轨迹跟踪过程中,机器人自动跟踪的精度直接影响跟踪效果;以3自由度移动机器人为研究对象研究了机器人轨迹模糊跟踪系统,且在该系统中,采用多个传感器同时对移动机器人进行跟踪检测,并利用融合算法对其进行融合,将融合后的结果作为模糊控制器的输入;计算机仿真结果表明,在3自由度移动机器人轨迹跟踪中,采用多传感器信息融合是合理的、可行的;且可以减少跟踪过程中由传感器引起的误差对跟踪精度的影响,提高控制精度。In the process of trajectory tracking, the tracking quality is directly influenced by the accuracy of automatically tracking. The fuzzy controller of robot trajectory tracking is researched based on the 3 degrees of freedom mobile robot, and several sensors are applied to detect the information of the trace. And the result calculated by the fusion algorithm is regarded as the input of fuzzy controller. The experiment results show that the application of multi-sensor information fusion in the fuzzy controller for the trajectory tracking of the mobile robot is feasible and reasonable, it can improve the tracking accuracy through reducing the error resulted by the sensor.

关 键 词：3自由度移动机器人 信息融合 模糊控制 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]