The Research Of Mobile Robot Localiztion Control Based On Multi-Sensor Fusion

With the development of computer, intelligent control and sensor technology, the mobile robot has been used widely in aerospace technology, zone rescue, medical aid and so on to assist or replace human in specific tasks. The measurement precision is lower by using single sensor due to the complexity of the environment which the mobile robot working in, it is urgently need the mobile robot localization control technology based on multi-sensors fusion.The odometer calculation model and ultrasonic measurement model are built, in which the control algorithm is used to realize the mobile robot localization control, and then the error analysis and elimination method of odometer and ultrasonic models are given. In consideration of the shortcoming that the movement model parameters is mismatch,which is easy to cause the extended Kalmam filter divergent, the online correction of the odometer model is given in this paper to realize the odometer and ultrasonic data fusion by improved extended Kalmam filter and realize the process of mobile robot localization control.The design and implementation of the mobile robot control platform based on wireless LAN has been completed in this paper by using the C/S structure mode and socket programming technology, which complete the process of the communication between the PC client and the mobile robot server.At last, the code programming and testing work of the mobile robot control platform was completed based on VC++6.0, and which works based on wireless LAN in laboratory environment. The extended Kalman filter was used in the multi-sensor positioning experiment, from which the movement trajectory of the mobile robot was given under the complex environment. The experiment results proves the effectiveness of the localization control algorithm, by which realize the mobile robot localization control based on multi-sensor information fusion.