基于多传感器融合的自主移动机器人测距系统  

Range-Measurement System of Multi-SensorFusion Based Autonomous Mobile Robot

作　　者：王文庆[1] 张涛[1] 龚娜[1] 

机构地区：[1]西安邮电大学自动化学院,西安710061

出　　处：《计算机测量与控制》2013年第2期343-345,共3页Computer Measurement &Control

基　　金：国家自然科学基金(61100165/F020508);陕西省自然科学基金(2007F18)

摘　　要：针对自主移动机器人的路径规划需求,设计了红外传感器与超声波传感器融合的测距系统;首先使用红外传感器信号对移动范围内的障碍物进行探测,确定其位置界限;然后使用超声波传感器信号进行补充,并对两类测距数据用证据理论进行融合,提高了定位精度;为了避免多超声波传感器之间的回波干扰,设计了多超声波传感器分组循环发射测距系统,避免了因使用单个传感器进行多次测量而降低系统的实时性和产生信号串扰的缺陷;实验结果表明,该方法使移动机器人的测距相对误差平均降低了30.2%。In order to plan the path for autonomous mobile robot, this paper designs a ranging system through combining infrared sensors and ultrasonic sensors. The infrared sensor signal is used to detect obstacles within a range of movement and its position boundaries firstly, and then using ultrasonic sensor signals to supplement. After the sensor signals are gathered, the data fusion algorithm based on evidence theory is launched to improve the positioning accuracy. In order to avoid reversal of interference between ultrasonic sensors, a new layout is put forward in which ultrasonic sensors are grouped to cycle sending signal. The layout can enhance the real--time of measurement system and avoid the defects of signals crosstalk, which always occurred due to several times measuring of one sensor. The experimental results show that this method improves relative ranging error of the mobile robot by an average of 30. 2%.

关 键 词：红外传感器 超声波传感器 分组循环发射技术 数据融合 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]