Research for Multi-sensor Information Fusion Algorithm of Search and Rescue Robot Based on Embedded Control Network
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| Title | Research for Multi-sensor Information Fusion Algorithm of Search and Rescue Robot Based on Embedded Control Network |
| Authors | |
| Abstract | Aiming at completing search task under disaster condition problems, an optimizing strategy based on multi-sensor information fusion is proposed in this paper. Firstly, search and rescue robot control system hardware circuit is designed; secondly, embedded system software design is realized; and then, a polymerization Kalman filtering model is proposed, it uses local Kalman filter weights scheduling principle to improve system fault-tolerant ability and overall fusion performance. What’s more, Adaboost algorithm realizes the multi-sensor information optimal fusion. Through simulation test experiment, the robot search traversal ability is verified under unstructured environment. |
| Publisher | ACADEMY PUBLISHER |
| Date | 2012-05-01 |
| Source | Journal of Computers Vol 7, No 5 (2012): Special Issue: Selected Best Papers of ICICIS 2011 |
| Rights | Copyright © ACADEMY PUBLISHER - All Rights Reserved.To request permission, please check out URL: http://www.academypublisher.com/copyrightpermission.html. |