计算机与数字工程2019，Vol.47Issue(10)：2478-2481,2516,5.DOI:10.3969/j.issn.1672-9722.2019.10.020
基于有限状态机(FSM)的多传感器信息融合在轮式运动机器人编程中的应用∗
Application of Multi-sensor Information Fusion Based on Finite State Machine(FSM)in the Programming of Wheeled Mobile Robot
徐伟1
作者信息
- 1. 江汉大学工程训练中心 武汉 430056
- 折叠
摘要
Abstract
In the research of wheeled mobile robots,sensors are the basis of intelligent robot. The information obtained by a single sensor is limited,so intelligent robots are usually equipped with a large number of sensors to meet the needs of detection and data acquisition. But multi-sensor gives the robot-programming a lot of trouble,a wide variety of circumstances need to be consid?ered by using a single sensor information processing programming ideas,so the programming language is complicated and poor read?able. Moreover,the overall contact is lost among all the sensors,causing the robot to run out of control. To solve these problems, this paper describes the principle of multi-sensor information fusion based on finite state machine theory,designs a general program?ming algorithm. The example based on the movement of wheeled mobile robot to avoid-cliff on the long beach track,which illustrate the application of multi-sensor information fusion based on finite state machine theory in robot programming practice.关键词
有限状态机/多传感器/信息融合/轮式运动型机器人Key words
finite-state machine/multi-sensor/information fusion/wheeled mobile robot分类
信息技术与安全科学引用本文复制引用
徐伟..基于有限状态机(FSM)的多传感器信息融合在轮式运动机器人编程中的应用∗[J].计算机与数字工程,2019,47(10):2478-2481,2516,5.
