CAJ | 학술논문

通过测距系统计算机器人运动路径是机器人壁障、路径规划以及协作编队关键技术之一。根据移动机器人工作环境地形复杂、光线差等特点，采用高精度激光传感器和超声波传感器协同测距，以ARM9为核心设计了软硬件，在此基础上，研究了自适应加权平均数据融合算法，并分析了各传感器的误差和方差。经实验统计，多传感器融合比单一传感器测量精度平均提高了47％，测量误差减小到0．5cm以内，表明本系统提高了测量精度和可靠性。
통과측거계통계산궤기인운동로경시궤기인벽장、로경규화이급협작편대관건기술지일。근거이동궤기인공작배경지형복잡、광선차등특점，채용고정도격광전감기화초성파전감기협동측거，이ARM9위핵심설계료연경건，재차기출상，연구료자괄응가권평균수거융합산법，병분석료각전감기적오차화방차。경실험통계，다전감기융합비단일전감기측량정도평균제고료47％，측량오차감소도0．5cm이내，표명본계통제고료측량정도화가고성。
Calculating robot moving pathway is one key ytechnology of robot obstacle avoidance,path planning and coordination formation via ranging system. According to characteristic of robot working environ- ment like complex landscape and weak light etc. For raising measuring precision, this paper cooperate high accurate laser sensor with ultrasonic sensor measuring, designed software and hardware using ARM9 as the CPU, based on which, researched adaptive weighed fusion algorithm and analyzed error and vari- ance of each sensor. Through experiments statistics, concluded that multi-sensors fusion have a 47% higher precision than single sensors, and measuring error decreased within 0.5cm, which indicate that the system raised ranging accurate and reliability indeed.