周爱玉, 李欣, 漆新民. 基于多传感器信息融合的自主移动机器人导航算法研究[J]. 南昌航空大学学报(自然科学版), 2004, 18(2): 7-10.
引用本文: 周爱玉, 李欣, 漆新民. 基于多传感器信息融合的自主移动机器人导航算法研究[J]. 南昌航空大学学报(自然科学版), 2004, 18(2): 7-10.
shu
ZHOU Ai-yu, LI Xin, QI Xin-min. The navigation algorithm of autonomous mobile robot based on multi-sensor fusion[J]. Journal of nanchang hangkong university(Natural science edition), 2004, 18(2): 7-10.
Citation: ZHOU Ai-yu, LI Xin, QI Xin-min. The navigation algorithm of autonomous mobile robot based on multi-sensor fusion[J]. Journal of nanchang hangkong university(Natural science edition), 2004, 18(2): 7-10.
shu

基于多传感器信息融合的自主移动机器人导航算法研究

The navigation algorithm of autonomous mobile robot based on multi-sensor fusion

    摘要
  • 摘要: 本文介绍了一种基于微控制器控制,以GPS为主要导航手段,且基于多传感器信息融合的自主移动机器人导航系统的软硬件设计思想及实现方法.重点讨论了基于栅格法的导航算法在微控制器系统中的实现.最后给出了该导航系统在比较典型的环境中实现导航与避障的实验结果.

     

    Abstract: A navigation system of autonomous mobile robot based on microcontroller controlling and with GPS as a main navigation tool and multi-sensor fusion being used,is introduced in this paper.It emphasizes how to implement the navigation algorithm based on the Vector Field h Histogram (VFH) in microcontroller.At last the experiment results in several typical environments are given.

     

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