Region-wide Coverage Of The Autonomous Mobile Robot Multi-sensor Information Fusion Techniques And Algorithms

The thesis takes the multi-sensor data fusion system of Area-covering mobile Robots as an object of study, mainly does researches on the subject of multi-sensor data fusion. The focus of the researches is the fusion algorithm on the obtaining of obstacle information, location information and boundary information.The thesis firstly contains the analysis of the function features, behavioral characteristics, and control features of the Area-covering Mobile Robots, does researches on the information that the robot needs, sets up the function block diagram of the Area-covering mobile Robots, and point out the relevance between the modules that the diagram contains.In the obstacle information obtaining functional module of the function block diagram, sets up the fusion algorithm with the use of ultrasonic sensors' futures, infrared sensors' futures and the distribution of sensors, and do a judgment about the location of the obstacle based on the fusion algorithm.In the robot's location information obtaining functional module of the function block diagram, prove the need for Kalman filter to reduce the data uncertainty through the analysis of the data uncertainty from photoelectric encoder, electronic compass and GPS sensor, design two Kalman filters for two sub-location systems, and then fuse two kinds of location data from two sub-location systems by weighted average method.In the robot's boundary information obtaining functional module of the function block diagram, design a program that obtains boundary information through the analysis of the robot's movement in the boundary. In the premise of accurate location information, fit the boundary curve and determine the state with the use of location information.