基于传感器管理的移动机器人融合算法分析-analysis of mobile robot fusion algorithm based on sensor management.docx

becomes an important part of data fusion system.Firstly, considering the distribution of sensors on the robot, different information sources have different reliability and impact in the fusion. The concept of Measurement of Evidence Support, MES is proposed in the paper. The correlation of the focus elements is fully taken into account to determine the core of the information sources in the multi-source system. It has avoided the limitation just depending on the average of the general basic belief assignment to make decisions. A distance is obtained according to the relationship between every information source and the core of the sources in the multi-source system. Some sensors which are irrelevant or have little effect in the fusion have been filted to greatly reduce the number of the sensor in the fusion. Therefore the computation complexity is reduced sharply as well. There exists a great deal of uncertain information in the multi-source information fusion system. An objective function, constraints and optimization function are established with linear methods. The decision about the sensors in the system will be obtained with the optimization method. At the same time the possiblity of the correct fusion result will be improved.Based on the above studies, the collaborative exploration strategy for dynamic partitioning is proposed on multi-robot system. A modular hybrid structure for practical application is designed and made applicable theoretic methods for behavior management, behavior process and behavior decision to the structure.A Layered hybrid architecture for multi-task coordiantion is designed. And the task coordinate flow is given to the multi-robot system. Each robot has its own motion occording to the coordination mechanism, and the multi-task coordination mechanisms make the autonomy of the robot task allocation come to reality. When the robot has completed the task, or can not continue its task, the robots can be self-consultation to get the maximum