The Implement Of The Multi-sensor Data Fusion On AMR Based On Embedded System

With the development of micro-electronics & computer technology, embedded systems attract many scholastics'attentions by their strong functions which make them have tremendous application potential. Recently many internal scientific research institutions begin to work over their own embedded systems using various of ARM CMOS chip in order to carry out their research works.Our development work based on embedded system depends on two different programs: one is the item of nature science fund of ShanDong province, the other is the cooperation fund with the Affiliated Medical School Hospital of Qingdao University. We adopt the CUP (s3c2410) developed by the SumSung company to design the embedded system. According to the high intelligent AMR, the s3c2410---ARM9 CPU is just fit for it because of its special advantages: It adopts RISC technology and has many advantages such as simply addressing modes, fixed length dictates more registers and more general I/O ports & stronger expending abilities which make it execute efficiently & manage quickly. This paper mainly discuss the designation of hardware system based on embedded system & transplant Multi-sensor Data Fusion based on D-S Theory & Neural ,which is improved and designed in Linux system into ARM9(S3C2410) embedded system.Firstly the thesis introduces the development , key technology & algorithm in which the mobile service robot involved ; Secondly it discusses the overview and development trend of the embedded system briefly, also the main designation of hardware system ; Moreover , the thesis tells in detail the different parts of the hardware system based on the embedded system and the implementations of them; finally ,the thesis studys the navigation and avoiding obstacle algorithms of the auto guide robot , puts forward the multi-sensor information fusion algorithms which is based on D-S reasoning and neural network and we carry on the experiment in embedded Linux system and get the result.For the last part, it summarizes this paper and indicates the research directions for the future.