南京师范大学学报：工程技术版2011，Vol.11Issue(3)：18-22,5.
数字滤波器在移动机器人超声信息融合中的应用
Application of Digital Filter to Map Building for Mobile Robot
摘要
Abstract
As a typical distance sensor, the ultrasonic sensor has been widely used in mobile robot navigation, obstacle avoidance and map building. But it has some disadvantages, such as there are beam angle, poor direction and prone to reflections by some obstacles. Therefore, the key is to establish of a suitable model for uhrasonic sensors and effectively process ultrasonic data. In the paper, we use arc models of simplicity ultrasonic information. And then the digit filter is presented to improve the direction and fuse ultrasonic data, that can provide reliable characteristic information about barriers. Experiments prove that the method can improve the reliability of environment map building whether simple or complicated environment.关键词
移动机器人/超声波传感器/弧线模型/数字滤波器/地图创建Key words
mobile robot/uhrasonic sensor/arc model/digit filter/map building分类
信息技术与安全科学引用本文复制引用
顾新艳..数字滤波器在移动机器人超声信息融合中的应用[J].南京师范大学学报：工程技术版,2011,11(3):18-22,5.基金项目
江苏省教育厅自然科学研究基（08KJB580003）、南京工程学院校级基金（QKJB2009014）. （）
