Study on lateral position of mobile robot based on information fusion

MA Bin-liang1; HUANG Yu-mei1; SHI En-xiu1; CAI Tao1; ZHU Cong-min1

doi:10.13873/j.1000-97872008.11.017

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Study on lateral position of mobile robot based on information fusion

更新时间：2025-09-11

- Study on lateral position of mobile robot based on information fusion
- Vol. 27, Issue 11, Pages: 24-27(2008)
- 作者机构：
  
  1. 西安理工大学机械与精密仪器工程学院
  2. 独山子石化公司
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872008.11.017
  CLC： TP242
- Published：2008
- 稿件说明：
移动端阅览
[1]马斌良,黄玉美,史恩秀,蔡涛,朱从民.基于信息融合的移动机器人侧向定位的研究[J].传感器与微系统,2008,27(11):24-27.

MA Bin-liang1, HUANG Yu-mei1, SHI En-xiu1, et al. Study on lateral position of mobile robot based on information fusion[J]. 2008, 27(11): 24-27.
[1]马斌良,黄玉美,史恩秀,蔡涛,朱从民.基于信息融合的移动机器人侧向定位的研究[J].传感器与微系统,2008,27(11):24-27. DOI： 10.13873/j.1000-97872008.11.017.

MA Bin-liang1, HUANG Yu-mei1, SHI En-xiu1, et al. Study on lateral position of mobile robot based on information fusion[J]. 2008, 27(11): 24-27. DOI： 10.13873/j.1000-97872008.11.017.

摘要

超声波传感器的入射角对输出有很大的影响

通过实验分析了入射角对输出的影响。采用引入误差补偿因子的方法

标定了传感器的测量模型

使得测量精度大大提高。在此基础上

基于多源信息融合设计了3种移动机器人侧向定位模型。经实验比较证实

引入误差补偿因子的融合模型定位精度高

可以使得距离误差控制在±2.4mm

姿态角误差控制在±0.32°以内。最后

将该融合模型应用于移动机器人的实际控制中

距离误差为±3.7mm、姿态角误差为±0.58°

满足移动机器人定位精度的要求。

Abstract

The incident angle of ultrasonic sensor has serious effect on its output.The effect of incident angle on the output is analyzed by experiment.The measurement precision is improved after the measuring model of the sensor is calibrated using error compensation factor

and then three lateral position models are designed based on multi-information fusion.Through the comparison analysis

the fusion model with error compensation factor has higher precision

the distance error is ±2.4mm and attitude angle error is ±0.32°.Finally

the model is applied to actual control of mobile robot

the distance error is ±3.7mm and attitude angle error is ±0.58°

which can meet position need of the mobile robot.

关键词

Keywords

references

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自主导航小车AGV定位方法的研究 [J]. 史恩秀,黄玉美. 传感技术学报 . 2007(01)

一种大角度范围的高精度超声波测距处理方法 [J]. 孙牵宇,童峰,许肖梅. 厦门大学学报(自然科学版) . 2006(04)

基于视觉和超声信息的机器人行为控制 [J]. 徐江伟,岳宏,赵海文,杜春红. 仪器仪表学报 . 2006(07)

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Topological navigation and qualitative localization for indoor environment using multi-sensory perception [J] . P. Ranganathan,J.B. Hayet,M. Devy,S. Hutchinson,F. Lerasle. Robotics and Autonomous Systems . 2002 (2)

Sensor fusion by pseudo information measure: A mobile robot application [J] . Mohammad Reza Asharif,Behzad Moshiri,Reza HoseinNezhad. ISA Transactions . 2002 (3)

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Related Institution

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