CAJ | 학술논문

针对移动机器人的测距系统,采用了红外线传感器与超声波传感器共同测距,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问题;应用自适应加权数据融合估计算法对实时测量数据进行在线融合估计,只对当前采样时刻的测量数据进行自适应加权融合,而各传感器的加权因子则通过传感器的测量数据进行方差在线学习估计以自适应方式进行调整,使融合结果的均方误差始终最小,实现两种传感器在功能上的互补;实验结果表明,该方法提高了整体测距精度,得到了被测距离更加准确的估计.
침대이동궤기인적측거계통,채용료홍외선전감기여초성파전감기공동측거,피면료인사용단개전감기진행다차측량이강저계통적실시성화산생신호천우문제;응용자괄응가권수거융합고계산법대실시측량수거진행재선융합고계,지대당전채양시각적측량수거진행자괄응가권융합,이각전감기적가권인자칙통과전감기적측량수거진행방차재선학습고계이자괄응방식진행조정,사융합결과적균방오차시종최소,실현량충전감기재공능상적호보;실험결과표명,해방법제고료정체측거정도,득도료피측거리경가준학적고계.
A distance measurement method with infrared range sensors and ultrasonic sensors for mobile robot ranging system is adopted.It avoid the problems that reduce the system measurement real-time and generate signal interference by using one sensor to range for many times. Adaptive weighted fusion estimation algorithm, which makes up for the performances of the two kinds of sensors, is adopted to deal with measurement datum on-line. The algorithm only deals with the current measurement datum of sensors and the weighted factors of each sensor are adaptively adjusted by the variance study estimated algorithm on- line. The experiment results indicate that the algorithm improves ranging precision and the estimation of distance measurement is more precise than that of weighted average method.