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介绍了多传感器信息融合技术的基本原理,研究了它在小车自主避障上的应用,并提出了在基于视觉定位的自动导引车(AGV)基础上的一种避障系统设计方案.该系统将超声波传感器与红外传感器组合使用,利用多传感器信息融合技术,采取改进的K/N融合方法以及基于先验知识的AND融合方法,对传感器数据进行分析决策并以此实现避障算法.实验利用上述方案进行避障测试,得到轨迹曲线.结果表明:该方案有效地改善了单一传感器性能较差以及消除噪声干扰等问题,避障时的安全距离不少于50cm,可及早预警并采取相应避障措施,最终实现了较好的避障功能.
The basic principle of multisensor information fusion technology is introduced and its application to obstacle avoidance of trolley is studied. A design of obstacle avoidance system based on AGV is proposed. The system combines ultrasonic sensor with infrared sensor, uses multi-sensor information fusion technology, adopts improved K / N fusion method and AND fusion method based on prior knowledge to analyze and decide sensor data and realize obstacle avoidance algorithm. The results show that this scheme can effectively improve the performance of a single sensor and eliminate the noise interference and other issues, avoiding a safe distance of not less than 50cm, which can be early warning and take the corresponding Obstacle avoidance measures, and ultimately achieve a better obstacle avoidance function.