【摘要】 针对自主跟随机器人在自由空间中对移动目标进行跟随时,由于信号源发射角度小,自主跟随机器人很容易进入信号盲区,并且难以对移动目标进行精确定位、移动姿态确定等问题,提出了一种基于多传感器信息融合的自主跟随定位及避障方法,该方法通过在移动目标上增加多信号源,使自主跟随机器人与移动目标之间建立冗余信道,并通过多传感器信息融合方法,计算出移动目标中心位置及实时移动姿态;设置测距模块,使自主跟随机器人能避开障碍,保持跟随。根据此方法建立了多信号源定位模型和算法,并对该算法进行了实验验证。实验结果表明,该方法能够准确的对移动目标进行定位和移动姿态确定,并且信号盲区小,能有效的避开障碍,保持对移动目标的跟随,具有一定的工程应用价值。更多还原

【Abstract】 For the autonomous following robot to follow the moving target in free space,the following robot can easily enter the signal blind zone due to the small launch angle of the signal source,and it is difficult to accurately locate the moving target and determine the moving posture. Autonomous following positioning and obstacle avoidance method based on multi-sensor information fusion is proposed. The method establishes a redundant channel between the following robot and the moving target by adding multiple signal sources to the moving target,and calculates the moving target center position and the real-time moving posture through the multi-sensor information fusion method;The ranging module is set,so the follower robot can avoid obstacles and keep following. According to this method,a multi-signal source location model and algorithm is established,and the algorithm is verified experimentally. The experimental results show that the method can accurately locate the moving target and determine the moving attitude,and the signal blind zone is small. This method can effectively avoid obstacles and keep following the moving target,which has certain engineering application value.更多还原