基于信息融合的移动机器人侧向定位的研究  

Study on lateral position of mobile robot based on information fusion

作　　者：马斌良[1,2] 黄玉美[1] 史恩秀[1] 蔡涛[1] 朱从民[1] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,陕西西安710048 [2]独山子石化公司,新疆克拉玛依833600

出　　处：《传感器与微系统》2008年第11期24-27,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(50075069);陕西省教育厅产业化培育计划资助项目(03JC17)

摘　　要：超声波传感器的入射角对输出有很大的影响,通过实验分析了入射角对输出的影响。采用引入误差补偿因子的方法,标定了传感器的测量模型,使得测量精度大大提高。在此基础上,基于多源信息融合设计了3种移动机器人侧向定位模型。经实验比较证实,引入误差补偿因子的融合模型定位精度高,可以使得距离误差控制在±2.4mm,姿态角误差控制在±0.32°以内。最后,将该融合模型应用于移动机器人的实际控制中,距离误差为±3.7mm、姿态角误差为±0.58°,满足移动机器人定位精度的要求。The incident angle of ultrasonic sensor has serious effect on its output. The effeet of incident angle on the output is analyzed by experiment. The measurement precision is improved after the measuring model of the sensor is calibrated using error compensation factor,and then three lateral position models are designed based on muhi-information fusion. Through the comparison anal ssis, the fusion model with error compensation factor has higher precision,the distance error is ±2.4 mm and attitude angle error is ±0.32°. Finally,the model is applied to actual control of mobile robot,the distance error is ±3.7 mm and attitude angle error is ±0.58° ,which can meet position need of the mobile robot.

关 键 词：移动机器人 超声波传感器 多源信息融合 侧向定位 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]