基于多传感器融合的全地形机器人系统设计  

Design of All-terrain Robot System Based on Multi-sensor Fusion

作　　者：朱颖 吴钰鑫 侯夏嘉 张亚婉 陈庆盛 ZHU Ying;WU Yuxin;HOU Xiajia;ZHANG Yawan;CHEN Qingsheng(Huali College Guangdong University of Technology,Guangzhou 511325,China)

机构地区：[1]广州华立学院,广州511325

出　　处：《计算机测量与控制》2022年第11期246-250,271,共6页Computer Measurement &Control

基　　金：2020年广东省普通高校特色创新类项目(2020KTSCX193);2021年广东省科技创新战略专项资金(pdjh2021b0644);2020年广东省大学生创新训练项目(S202013656054)。

摘　　要：针对因强降雨、堤防溃决、暴雨增水等因素导致的水位突然上升而泛滥和山洪暴发,形成复杂多变灾后的地形环境;设计了以FPGA为控制器的多传感器融合机器人,提高灾后救援效率;该机器人通过GPS为机器人作业划定区域,生命特征仪、力矩仪和空气质量仪等传感器采集环境数据,搭建非线性全地形机器人动态模型,利用六轴陀螺仪和霍尔传感器获取机器人状态,数据经过扩展卡尔曼滤波算法融合以及航迹算法推算后,获得机器人在灾后环境中的实际信息,使得机器人能够按要求进行搜救作业;实验结果表面,多传感器融合的机器人系统,能够在灾后环境完成信息采集与传输,具有较高的稳定性及准确性。Flood and mountain flood are caused by sudden rise of water level due to heavy rainfall,dike break,rainstorm and other factors,a complex and changeable terrain environment after disaster is formed.A multi-sensor fusion robot based on FPGA is designed to improve the rescue efficiency after the disaster.By the environment data information of vital signs monitor,torque meter and air quality meter sensor in robot operation defined area by GPS,a nonlinear all-terrain robot dynamic model is established.By using six-axis gyroscope and hall sensor for robot state,the data for the extended Kalman Filter fusion algorithm and track algorithm is calculated,To obtain the actual information of the robot in the post-disaster environment,so that the robot can search and rescue the operations according to the requirement.The experimental results show that the multi-sensor fusion robot system can complete the information collection and transmission in the post-disaster environment,which has high stability and accuracy.

关 键 词：FPGA 多传感器融合 全地形 扩展卡尔曼滤波 信息采集 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]