介绍了用于移动机器人运动导航的多传感器测距系统的硬件组成和数据融合方法。测距系统由超声波测距模块、红外测距模块和数据融合模块组成,超声波测距模块和红外测距模块分别检测机器人周围环境中障碍物的距离,数据融合模块则通过SMBus总线收集两个模块采集到的距离数据,并采用自适应加权数据融合算法对这些数据进行处理,以获得可信的距离信息。实验表明,所设计的测距系统可靠性高、配置灵活,能够满足机器人自主导航中的避障要求。
【英文摘要】 This paper introduces the hardware components and the multi-sensor data fusion method about navigation of the mobile robot.The system has three modules,the ultrasonic ranging module,the infrared ranging module and the data integration module.The ultrasonic ranging module and the infrared ranging module detect the distances from the robot to obstacles around the robot.The data integration module collects the distance data from the two ranging module by SMBus,as well as processes them with the adaptive weight...
