基于嵌入式Linux多传感器融合的移动机器人避障系统  

Obstacle Avoidance System of Multi-Sensor Fusion for Embedded Linux-Based Mobile Robot

作　　者：黄先伟[1] 童怀[1] 陈德艳 

机构地区：[1]广东工业大学信息工程学院,广东广州510006 [2]广东省嵌入式软件公共技术中心,广东广州510006

出　　处：《机械设计与制造》2013年第3期155-158,共4页Machinery Design & Manufacture

基　　金：广东省重大科技专项计划项目(20110807)

摘　　要：系统采用超声波传感器结合视觉传感器,基于模糊PID控制的多传感器信息融合算法。构建了ARM+Linux嵌入式开发环境来进行图像压缩和处理并实现基于B/S网络的远程监控功能;移植了USB摄像头和无线网卡的驱动,配合Video4Linux接口实现图像采集,并利用jpeglib静态库对图像进行了压缩处理。利用嵌入式Web服务器Boa并配合Mini GUI程序,实现了远程监控和图像动态更新。试验表明,该系统可以实现在Linux下融合多传感器信息、完成避障算法并实现路径规划和远程控制,具有较高的可靠性和实用性。This system uses ultrasonic sensors and a visual sensor,together with multi-sensor information fusion algorithm based on fuzzy PID control.It builds ARM+Linux embedded development environment for image compression and processing and B/S network-based remote monitoring function;transports the USB camera and wireless card driver under Linux,achieves image acquisition with the Video4Linux interface,and uses the jpeglib static library to compress the images.The embedded Web server Boa and Mini GUI program are used to remote control and to send dynamic updating images.Tests show that the system can achieve multi-sensor information fusion under Linux,can perform the obstacle avoidance algorithm,path planning and remote control with high reliability and practicality.

关 键 词：移动机器人 嵌入式LINUX ARM 多传感器融合 远程监控 

分 类 号：TH16[机械工程—机械制造及自动化] TP212[自动化与计算机技术—检测技术与自动化装置]