基于多超声波信息融合的小车避障算法实现  

The Realization Of Intelligent Car Avoiding Obstacles Algorithm Based On Multi-ultrasonic And Information Fusion

作　　者：刘崇翔 高美凤 

机构地区：[1]江南大学轻工过程先进控制教育部重点实验室,江苏无锡214122

出　　处：《微计算机信息》2012年第8期32-34,共3页Control & Automation

摘　　要：智能小车根据不同传感器的传感信号,按照一定的规则来调整小车的方位角和速度,实现自主导航。成功避障是提高非结构化环境中智能小车自主能力的关键问题之一,本文提出了一种基于模糊控制的多超声波测距传感器信息融合智能小车避障算法,该算法不仅融合了多个超声波测距传感器的测量数据,对障碍物的距离和空间方位提供准确、可靠的信息,很好的实现避障行为决策,而且不依赖于对象的数学模型,具有较好的鲁棒性。According to the different sensor＇s sensing signal, intelligent car adjusts its azimuth and the speed following the certain rule. The successful avoiding obstacles is one of key questions to enhance the intelligent car independent ability in the non-structur- ized environment. One kind intelligent car avoiding obstacle algorithm based on fuzzy contro[ and multi-ultrasonic range finder sensor and information fusion is proposed by this paper. This algorithm not only can fusion multi-ultrasonic ranging sensor＇s metrical data, offer the accurately reliable information of the obstacle＇distance and spatial position making a good decision on avoiding obstacles, but also do not rely on the object mathematical model and has a good robustness.

关 键 词：模糊控制 超声波传感器 智能小车 避障 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]