现代制造工程Issue(7)：69-76,8.DOI:10.16731/j.cnki.1671-3133.2024.07.009
移动机器人多传感器数据融合方法研究
Research on the method of multi-sensor data fusion for mobile robots
摘要
Abstract
Multi-sensor data fusion technology can better solve the problem of data incompatibility generated by smart devices,im-prove device operational efficiency and productivity.Existing methods lack high-performance performance and do not consider data privacy protection issues.It innovatively introduced federated learning into multi-sensor data fusion.The federated learning local model used the Gated Recurrent Unit(GRU)algorithm to solve the multi-sensor data fitting problem.A novel parallel stere-oscopic multi-sensor data fusion method was designed for the first time,which has excellent fusion performance and ensures the privacy of each client's data.The experimental results demonstrate the correctness and rationality of this method,as well as its ad-vantages in robustness.关键词
移动机器人/多传感器/数据融合/联邦学习Key words
mobile robots/multi-sensor/data fusion/federated learning分类
信息技术与安全科学引用本文复制引用
冯婧,魏航信,岳高峰,王煜坤,秦乐,席文奎,孙文..移动机器人多传感器数据融合方法研究[J].现代制造工程,2024,(7):69-76,8.基金项目
陕西省自然科学基础研究计划项目(2022-JQ571) （2022-JQ571）
陕西省厅市联动重点项目(2022GD-TSLD-22) （2022GD-TSLD-22）
