论文部分内容阅读
针对移动机器人自主导航地图创建中超声波信息存在不确定性的问题,提出一种新的基于灰色定性理论的超声波信息解释和融合的方法,并用于处理超声波传感器信息和移动机器人创建环境地图.首先,引入概率灰数对超声波信息的不确定性进行描述,以获得栅格单元和传感器的概率灰数模型;然后,设计超声波传感器新旧信息的融合方法,从而得到环境地图的整体表示;最后通过地图创建仿真实验结果表明了这种方法具有良好的鲁棒性和准确度.
Aimed at the uncertainty of ultrasonic information in autonomous navigation map creation for mobile robots, a new method of interpretation and fusion of ultrasonic information based on gray qualitative theory is proposed, which is used to process ultrasonic sensor information and create an environment map for mobile robot.Firstly, The probability gray number is introduced to describe the uncertainty of ultrasonic information to obtain the probability gray number model of grid cells and sensors. Then, the fusion method of old and new information of ultrasonic sensors is designed to obtain the overall representation of environmental map. Finally, Simulation results show that this method has good robustness and accuracy.