科技创新与应用2025，Vol.15Issue(28)：1-8,8.DOI:10.19981/j.CN23-1581/G3.2025.28.001
基于多传感器融合的环境感知策略
摘要
Abstract
To address the environmental perception requirements for human-robot interaction in mobile robots,this paper designs an environmental perception method based on multi-sensor fusion to achieve the recognition of target personnel and the detection of obstacles in complex environments.This paper realizes the localization of target pedestrians through Arucomarker detection,gimbal camera control,and target position prediction strategies.At the same time,point cloud clustering and fitting are combined to realize the mobile robot's detection of obstacles in complex environments.The proposed target recognition strategy was tested on a simulation platform and a physical mobile robot platform.The results show that the strategy can locate target pedestrians and detect obstacles in real time and robustness.This strategy successfully realizes the detection of complex environments by mobile robots and can be applied to other tasks of mobile robots.关键词
移动机器人/人机交互/目标定位/多传感器融合/障碍物检测Key words
mobile robot/human-computer interaction/target positioning/multi-sensor fusion/obstacle detection分类
交通工程引用本文复制引用
林骏杰,吴炜..基于多传感器融合的环境感知策略[J].科技创新与应用,2025,15(28):1-8,8.基金项目
国家自然科学基金项目(61807016) （61807016）
