The Study Of Multi-sensor Data Fusion Based Mobile Robot Localization Technology

With the fast development of new technology in intelligent control, computer science, networking, bionics and artificial intelligence, mobile robot has become the focus in the field of robotics and automation. Autonomous localization is an essential task for intelligence mobile robot navigation, and multi-sensor collaborating technology can provide much more information to realize Autonomous localization. The dissertation is mainly focus on robotic localization algorithm in a known environment and multi-sensor data fusion. Both the simulation result and the experiment data gained from mobile robot localization system are provided in the dissertation.Firstly, this paper discusses various mobile robot localization algorithms and indicates the research emphases. Possibility reasoning localization algorithm is studied, Markov Localization algorithm based on Bayes Filtering algorithm is introduced in the paper. The process of robot localization based on Markov Localization is described as continuously computing and updating robot's believes of every position in the whole state-space. It is able to recover from tracking failure, and can also address the problem of 'kidnap' when robot is moving. Geometry model is used to simplify the conventional Gauss motion model of robots, clustering algorithm is used to extract random readings and noise from sensing data, and off-line computation and selective computation are used to reduce the complexity. The improved Markov Localization algorithm is used to implement simulation experiment. The results show that Position Belief is much faster convergence and the computational complexity is reduced.The paper analyzes the performance and infections on sensors of robot system, and then proposes improved Markov Localization based on multi-sensor fusion. The method of constructing a sensing model, which is based on sonar sensor and vision data fusion, is also introduced in the paper.Finally, mobile robot localization software in VC++ environment is designed and realized with the help of WiRobotX80 ActiveX controller. Such essentialtechnology as off-line constructing sensing model, map data designing, vision data process, and localization algorithm and so on can be realized by this software. And localization experiment in structural environment is implemented. Experiment results and further experiment data analysis show the method's validity, robustness and practicability.