摘要
障碍物与机器人之间距离的获取是研究农业机器人自动避障的前提,而超声波传感器作为一种常用的测距装置被广泛应用于农业机器人中。为此,在研究超声波传感器的测量特性的基础上,分析了测距信息的不确定性因素,并针对这些不确定信息提出了基于概率和D-S证据理论的两种方法。这两种方法通过对获取的信息进行分析和融合,能正确地描述障碍物所处的位置,从而实现了机器人准确探测周围环境的任务。仿真实验表明,两种方法正确、可行。最后,通过对不确定信息的解释和复杂度分析等方面对该两种方法进行了比较和分析。
It is a prerequisite for automatic obstacle avoidance in studying agricultural robotic that acquires the distance between obstacles and the robot.The ultrasonic sensors as a distance measurement device are widely used in agriculture robot.Base on studying the measurement characteristics of ultrasonic sensors analyze the uncertain factor of ranging information;propose two methods that are probability and DS Evidence Theory.Through analysis and integration the measurement information,it can be described the location of obstructions,In order to achieve a robot to accurately detect the task of the surrounding environment.Simulation results show that the two methods is correct and feasible.In the end,the two methods were compared and analyzed in the interpretation of uncertain information and complexity analysis.
出处
《农机化研究》
北大核心
2010年第12期19-22,共4页
Journal of Agricultural Mechanization Research
基金
湖南省自然科学基金项目(06JJ50110)
湖南省教育厅科研stonebiao@163.com
关键词
农业机器人
超声波测距
不确定性信息
概率理论
D-S证据理论
agricultural robot
ultrasonic distance robotics
uncertain information
probability theory
dempster-shafer theory of evidence
