摘要
针对煤矿井下干扰严重的特点,设计了基于多传感器融合的煤矿救灾机器人定位系统,提出了信任度相加的数据融合算法,并通过Matlab软件验证了该算法的可行性。将定位系统搭载在CUMT-Ⅲ型煤矿搜救机器人平台上进行了矿井环境下的模拟试验,结果表明,基于信任度相加的融合算法具有较强鲁棒性,在多干扰的情况下能够很好地过滤干扰数据。
A localization system for the coal mine rescue robot based on multi-sensor fusion technology was designed according to the complicated mine environment with multiple disturb. A new data fusion algorithm based on addition of trust was proposed and its feasibility was tested by Matlab simulation. The results of the experiments on the CUMT-III Robot platform in the simulant mine environment show that the algorithm of addition of trust has better robust capability, which can filter the interference effectively in multiple disturb environment.
出处
《煤矿机械》
北大核心
2011年第1期49-52,共4页
Coal Mine Machinery
关键词
定位
多传感器融合
信任度算法
救灾机器人
煤矿
localization
multi-sensor fusion
trust fusion algorithm
rescue robot
coal mine
