Dissertation > Excellent graduate degree dissertation topics show

The Study of Multi-sensor Data Fusion Based Mobile Robot Localization Technology

Author: HuangJing
Tutor: LiuQing
School: Wuhan University of Technology
Course: Control Theory and Control Engineering
Keywords: Intelligent Mobile Robots Locate Sensor data fusion Markov localization algorithm
CLC: TP242
Type: Master's thesis
Year: 2006
Downloads: 608
Quote: 6
Read: Download Dissertation

Abstract


With intelligent control technology, computer and network technology and bionics, artificial intelligence and other disciplines, the rapid development of intelligent mobile robotics research scholars at home and abroad more and more attention, and intelligent autonomous mobile robot navigation positioning and environmental exploration and research basis, while mutual assistance in a variety of sensors to the mobile robot can provide a wealth of environmental information in order to achieve self-positioning. The research work is mainly known for the mobile robot localization algorithm environments autonomous multi-sensor information fusion and the theory of these two aspects of research undertaken. This is not only self-positioning algorithm for the simulation experiments, but also robot experiment platform designed and completed a mobile robot localization software. This article first mobile robot localization method are reviewed, noting positioning technology research priorities and trends. Then, the probability calculation method based on environmental characteristics localization methods for specific research, detailing the principles of Bayesian filtering and Markov localization method; Markov localization method will be transformed into a robot localization problem in a state space calculation of the probability distribution of the robot position and update failed to recover quickly from the positioning, and can solve the robot is \This simplifies the use of the traditional geometric model of the robot motion model; perceptual models using clustering algorithms eliminate the interference data; and use off-line calculation and select the calculation to reduce the computational speed; simulation results show that the reliability robot position converges rapidly, reaching Expected results. Presented and analyzed in the improved algorithm based on Markov, the paper's main sensor mobile robot platform models and their uncertainties discussed in turn proposed based on multi-sensor fusion algorithm improved Markov and analyzed to establish Based on sonar and visual perception sensor data fusion model specific methods. Finally, in WiRobotX80 auxiliary control robot platform software development, the paper in the VC environment designed and completed a mobile robot navigation software, maps and perceptual model to achieve environmental offline generation, electronic maps, image data processing, improved Markov localization algorithm key technologies, finished in a structured environment mapping experiment. Through the experimental results and data for further analysis and discussion, demonstrated the usefulness of the proposed method, accuracy and robustness.

Related Dissertations

  1. The Research of Navigation Multi-Sensor Data Fusion Technology Based on Micro Unmanned Platform,V249.32
  2. China's \,G647
  3. A Research on Storage Strategies in Warehouse Management System,TP315
  4. Research on the General Form of Product Development Model,TB472
  5. Research and Application of Localization Technology Based on ZigBee Technology,TP212.9
  6. Research on Localization of Wireless Sensor Networks,TN929.5
  7. RSSI-GA-Base Static Node and Improved MCL-Base Mobile Node Localization Algorithm for Wireless Sensor Networks,TN929.5
  8. An intelligent phone location-based multimedia information sharing system,TP37
  9. Research on Localization Algorithms in Wireless Sensor Network Based on Multidimensional Scaling,TN929.5
  10. Facing the ruins rescue slimline multi-sensor mobile robot,TP242
  11. Wheeled humanoid robot navigation and path planning,TP242
  12. ZigBee- based wireless sensor network design and implementation methods,TP212.9
  13. Wireless sensor networks based on the number to jump positioning method,TN929.5
  14. Information Fusion Based on Multi- wheeled mobile robot navigation technology,TP242
  15. Based on finite element simulation analysis of knee prosthesis surgery localization,R687.4
  16. Android-based Campus Map Service Design,TP393.09
  17. Indoor mobile robot autonomous navigation and real-time map building,TP242
  18. Pneumatic marking machine optimization and positioning and orientation matrix technology,TB486
  19. Public Emergencies role of media,D630
  20. The Research of Development Strategy of China Market for ETI Corporate,F426.3
  21. Studies on the Technology of Passive Time-Reversing and Matched-Field Location of Multiple Sources in Shallow Ocean Based on Horizontal Array,TN912.34

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile