The Global Map Building In Autonomous Robot System Based On Multisensor Data Fusion

Intelligent robot becomes another research hotspot after the industry robot. As a carrier of the intelligent robots research, football robot conforms the development direction of the intelligentized robot. The autonomous robot soccer tournament system is a senior form in football robot, and The research of sensing unknown environment and processing the dubious situation in autonomous football robot, has been a symbol of the robot's competence in simultaneous localization and mapping, and also been the most important feature of an intelligent mobile robot in its intelligentize degree.In this thesis, the author took the multi-mobile intelligent robots as research platform, combining the application of middle-size league of RoboCup system, designed a multi-sensors data fusion subsystem which is made up of several robots, all sensors in each robot, coach computer, and correlative program. The data fusion subsystem is used for processing the environment information that collected by all sensors in each robot twice, and finally educe the all information of global map. It can promote the locating precision of system and extend the visible field of robots. This subsystem can meet the need of the performance in real-time and locating precision of competing system.This thesis including follows content:1. Introduced the significance of the research in robot soccer competition firstly, and then introduced the history and state of technology in robot soccer tournament system and multi-sensor data fusion system.2. Introduced the structure and principle of the whole middle-size league of RoboCup tournament system, and then make a simple explain about the five subsystems including vision subsystem, wireless communication subsystem, data fusion subsystem, decision-making subsystem and entity subsystem.3. Mainly introduced the designing process of data fusion subsystem step by step. Firstly analyzed the designing requirement of data fusion subsystem in middle-size league of RoboCup system, and then explained the choice of sensors that used to obtain environment information and the data fusion structure in subsystem, lastly discussed the management and watch of all states in the soccer tournament system.4. By analyzing the characteristic of middle-size league RoboCup system, introduced the mapping way of competition environment, and then introduced the correlative fusing arithmetic in self-localization, local map building and global map building. At last, the data fusion subsystem was used to do experiment, and made a analyzing report to the result of experiment.In the end , a conclusion made to the thesis, made out the points of innovation and the main result of research, at the same time, pointed out the weakness of thesis and the problem that need to improve.