[1]顾新艳.数字滤波器在移动机器人超声信息融合中的应用[J].南京师范大学学报(工程技术版),2011,11(03):018-22.
　Gu Xinyan.Application of Digital Filter to Map Building for Mobile Robot[J].Journal of Nanjing Normal University(Engineering and Technology),2011,11(03):018-22.
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数字滤波器在移动机器人超声信息融合中的应用
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南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
11卷
期数:
2011年03期
页码:
018-22
栏目:
出版日期:
2011-11-30

文章信息/Info

Title:
Application of Digital Filter to Map Building for Mobile Robot
作者:
顾新艳;
南京工程学院车辆工程系，江苏南京211167
Author(s):
Gu Xinyan
Department of Vehicle Engineering,Nanjing Institute of Technology,Nanjing 211167,China
关键词:
移动机器人; 超声波传感器; 弧线模型; 数字滤波器; 地图创建
Keywords:
mobile robot; ultrasonic sensor; arc model; digit filter; map building
分类号:
TN713.7;TP242
摘要:
超声传感器作为一种典型的测距传感器已被广泛应用于移动机器人的导航、避障与地图创建中.但是由于超声波传感器存在波束角,其方向性差且易发生多次反射等缺点,地图创建往往不甚理想,因此建立合适的超声波传感器模型并有效处理数据是关键.在分析超声常用模型的基础上,采用了弧线超声波模型,并且将"数字滤波器"的概念移植到超声信息融合上,旨在提高超声方向的可靠性,从而为地图创建提供更加准确的障碍特征信息,实验证明该方法在简单或复杂环境下均可有效地改善环境地图的创建效果.
Abstract:
As a typical distance sensor，the ultrasonic sensor has been widely used in mobile robot navigation，obstacle avoidance and map building． But it has some disadvantages，such as there are beam angle，poor direction and prone to reflections by some obstacles． Therefore，the key is to establish of a suitable model for ultrasonic sensors and effectively process ultrasonic data． In the paper，we use arc models of simplicity ultrasonic information． And then the digit filter is presented to improve the direction and fuse ultrasonic data，that can provide reliable characteristic information about barriers． Experiments prove that the method can improve the reliability of environment map building whether simple or complicated environment．

参考文献/References:

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备注/Memo

备注/Memo:
基金项目: 江苏省教育厅自然科学研究基金( 08KJB580003) 、南京工程学院校级基金( QKJB2009014) ．通讯联系人: 顾新艳，讲师，研究方向: 电气自动化． E-mail: zdhxgxiny@ njit． edu． Cn
更新日期/Last Update: 2013-03-21