多传感器信息融合在轮式机器人运动控制中的应用  

Implementation of the Multisensory Information Fusion Technology in the Wheel-Robot Movement Control

作　　者：陈辉[1] 邓记才[1] 吴晓辉[1] 宋杨[1] 

机构地区：[1]郑州大学信息工程学院,郑州450001

出　　处：《传感技术学报》2011年第6期915-918,共4页Chinese Journal of Sensors and Actuators

摘　　要：分析了多传感器信息融合模型的建立和实现的过程,并利用多传感器信息融合技术中的信息协同和信息互补来完成对轮式机器人的运动控制。运行结果表明机器人可以半径范围为40 cm～100 cm的圆周上自主运行并能够灵活调整轨道半径;当机器人接近擂台边缘约5 cm时会自动检测边缘位置并根据自身的姿态情况及时调整运动方向。该系统运动控制性能稳定,能够在给定的测试环境下实现轮式机器人运动路径的准确控制。The process of building and realizing for the model of multisensory information fusion is analyzed.The accurate control of the movement route of the wheel-robot is realized by using the information coordination and complementary technology.The result shows that the robot can move on its own within the radius of the circle from 40 cm to 100 cm and can change its orbit radius flexibly.When the robot is close to the edge of the arena about 5 cm the robot would automatically detect the edge position of the arena and adjust the direction of the movement timely according to its posture.The movement control performance of this system is stable.It can realize the accurate control of the movement route of the wheel-robot in the given test surroundings.

关 键 词：多传感器信息融合 信息协同 信息互补 轮式机器人 

分 类 号：TP202[自动化与计算机技术—检测技术与自动化装置]