多传感器融合的机器人导航算法研究

摘要

Robot navigation is one of the key technology of indoor robot,a robot to realize intelligent's priorities.Method for traditional family indoor service robot navigation sensor is expensive,adaptability to dynamic environment deficiencies such as faults,robot navigation based on multi-sensor combination algorithm is put forward.The algorithm using RGB 3-d visual sensor and ultrasonic sensors to get the data respectively,through the data fusion for obstruction of three-dimensional information,establish three-dimensional model of the obstacles,through the best heuristic search algorithm for navigation path is optimized,better realize the robot navigation path,for the later research has laid a solid foundation of intelligent robots.%机器人导航是室内机器人的关键技术之一,是机器人实现智能化首要解决的问题.针对传统室内家庭服务机器人导航方法存在传感器价格昂贵、动态环境适应能力不足等缺点,提出基于多传感器相结合的机器人导航算法.该算法利用RGB-D视觉传感器和超声波传感器分别获取数据,通过数据融合获得障碍物的三维信息,建立障碍物的三维模型,通过启发式最佳搜索算法对导航路径进行了优化,较好的实现了机器人导航路径的绘制,这为后期研究机器人的智能化打下了坚实的基础.