| 基于多传感器信息融合的自主移动机器人导航算法研究 |
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| 引用本文： | 周爱玉 李欣 漆新民. 基于多传感器信息融合的自主移动机器人导航算法研究[J]. 南昌航空工业学院学报, 2004, 18(2): 7-10 |
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| 作者姓名： | 周爱玉 李欣 漆新民 |
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| 作者单位： | 中国科学院电子学研究所,北京,100080;中国海洋大学信息学院电子工程系,山东,青岛,266071;南昌航空工业学院,江西,南昌,330034 |
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| 摘 要： | 本文介绍了一种基于微控制器控制，以GPS为主要导航手段，且基于多传感器信息融合的自主移动机器人导航系统的软硬件设计思想及实现方法。重点讨论了基于栅格法的导航算法在微控制器系统中的实现。最后给出了该导航系统在比较典型的环境中实现导航与避障的实验结果。
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| 关 键 词： | 自主移动机器人 导航 微控制器 GPS |
| 文章编号： | 1001-4926（2004）02-0007-04 |
| 收稿时间： | 2004-03-25 |
| 修稿时间： | 2004-03-25 |
The navigation algorithm of autonomous mobile robot based on multi-sensor fusion |
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| ZHOU Ai - yu, LI Xin, QI Xin - min. The navigation algorithm of autonomous mobile robot based on multi-sensor fusion[J]. Journal of Nanchang Institute of Aeronautical Technology(Natural Science Edition), 2004, 18(2): 7-10 |
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| Authors: | ZHOU Ai - yu LI Xin QI Xin - min |
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| Affiliation: | The department of electronic engineer, information institute, the Ocean University of China, QingDao City, 255071 |
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| Abstract: | A navigation system of autonomous mobile robot based on microcontroller controlling and with GPS as a main navigation tool and multi-sensor fusion being used, is introduced in this paper. It emphasizes how to implement the navigation algorithm based on the Vector Field h Histogram (VFH) in microcontroller. At last the experiment results in several typical environments are given. |
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| Keywords: | Autonomous mobile robot Navigation Microcontroller GPS |
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