基于多传感器信息融合的机器人导航策略分析-analysis of robot navigation strategy based on multi-sensor information fusion.docxVIP

西安建筑科技大学硕士学位论文globalpa:由informationarefusedbythefuz勾logicmethod，on也ebasisofthetypesoftheenvironmentdesigntheavoidingmethod.Thesimulationexperimentsverifythatthewayproposedabovecanautonomouslyc缸可out也erobotavoidingobstaclesandna材gationintheunknownenvironment.Wi也themainplatformofARM9，anautonom。因navigation∞曲。1exp仅imentsystemiswelldevelopedwithseveralsensors，也e可stemconsistsofdrivemodule，navigationmodu1e，vehicle阳mmodule，sensormoduleandwirelesscommunicationmodule.Forveri行ingtheapproachproposedaboveisfeasibleande伍cient，让isusedontheexperimentsy如m，theresultsofthe臼严rimentverifythe可stemand也ealgorithmcanm臼ttheauωnomousnavigation，reachtheanticipatedestination.K可words:Visionnavigation;Waveletanalysis;Mathematicalmorphology;Informa:tionfusion;Fuz可logiccontrol目录1绪论-....................._.._........…............……….....................................................…11.1课题研究的背景及意义….......…..……........…........….................................….......….11.2移动机器人的发展…..............................................................................................11.2.1国内移动机器人的发展.................…...............……·……............................…21.2.2国外移动机器人的发展..........…..….......….........….......……….........…..…........21.3移动机器人导航系统的研究现状与发展趋势..............................….......…..........31.3.1移动机器人导航方法概述...............…..….......….......…..……..........................41.3.2传感技术和多传感器信息融合理论的研究现状….......….......…..….............41.3.3多传感器信息融合在机器人导航中的应用.....…........................……...........51.3.4移动机器人导航的发展趋势.....….......…..…......................….........…........…..51.4本文主要研究内容.................……................................……......……...............…..62移动机器人视觉导航路径跟踪……........….......….............……….-町……..川..……..…..川……..…..川..……..…..川……..…..川....……..叫..川....川……..川.....……..…..川……..川..…..川..2川.1视觉导航……….川.………...…….….….…...………...…..…..............................................................................................82.2路径识别算法..............…·……...............…..........